Safe Robot Navigation in Dense Crowds

Informacje na temat projektu

CROWDBOT

Identyfikator umowy o grant: 779942

DOI

10.3030/779942

Projekt został zamknięty

Data podpisania przez KE 20 Października 2017

Data rozpoczęcia 1 Stycznia 2018

Data zakończenia 31 Grudnia 2021

Finansowanie w ramach

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Koszt całkowity

€ 3 997 660,00

Wkład UE

€ 3 997 660,00

Koordynowany przez

INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET AUTOMATIQUE
France

CORDIS oferuje możliwość skorzystania z odnośników do publicznie dostępnych publikacji i rezultatów projektów realizowanych w ramach programów ramowych HORYZONT.

Odnośniki do rezultatów i publikacji związanych z poszczególnymi projektami 7PR, a także odnośniki do niektórych konkretnych kategorii wyników, takich jak zbiory danych i oprogramowanie, są dynamicznie pobierane z systemu OpenAIRE .

Rezultaty

Documents, reports (26)

Experiment protocol and risk assessment
Final integrated system, including simulation, crowd navigation for experimental scenario

Final integrated system including simulation crowd navigation for experimental scenario

Shared control navigation
Final evaluation report
Specification of Scenarios Requirements
Project website
Proceedings of ESAB workshops and report on ethical protocols
Report on physical interactions between robots and humans
Sensor specification
Overview of risks when using robots in crowds
System architecture
Crowd simulator - final version

Crowd simulator final version

Initial Communication, dissemination and exploitation plan
Robust localization and mapping
Crowd simulator - intermediate version
Second updated and extended integrated robot system with smart environment sensory communication and situation assessment capability for experimental scenario
Local interaction-aware motion planning
Reactive motion planning
CROWDBOT challenge
Social navigation
First basic integrated robot system prototype in experimental scenario
Local sensing first prototype
Initial evaluation report
First release of the localization, mapping and local motion planning
Local sensing system
Specification update

Publikacje

Book chapters (2)

Safe Human-Robot Interaction Through Crowd Contact Video Analysis

Autorzy: Fernando Garcia, Alexandre Mazel, Arturo Cruz Maya
Opublikowane w: Social Robotics - 11th International Conference, ICSR 2019, Madrid, Spain, November 26–29, 2019, Proceedings, Numer 11876, 2019, Strona(/y) 588-598, ISBN 978-3-030-35887-7
Wydawca: Springer International Publishing
DOI: 10.1007/978-3-030-35888-4_55

Towards Dialogue-Based Navigation with Multivariate Adaptation Driven by Intention and Politeness for Social Robots

Autorzy: Chandrakant Bothe, Fernando Garcia, Arturo Cruz Maya, Amit Kumar Pandey, Stefan Wermter
Opublikowane w: Social Robotics - 10th International Conference, ICSR 2018, Qingdao, China, November 28 - 30, 2018, Proceedings, Numer 11357, 2018, Strona(/y) 230-240, ISBN 978-3-030-05203-4
Wydawca: Springer International Publishing
DOI: 10.1007/978-3-030-05204-1_23

Conference proceedings (46)

Autonomy vs. Safety in Shared Control Crowd Navigation

Autorzy: Eberle, H.; Zhang, B.; Mathibela, B.; Walker, G.; Teodorescu, C.; Holloway, C.; Carlson, T.
Opublikowane w: In: Proceedings of the 29th IEEE International Conference on Robot and Human Interactive Communication, Ro-Man 2020. 29th IEEE International Conference on Robot and Human Interactive Communication, Ro-Man 2020: Naples, Italy. (2020) (In press)., Numer 2, 2020
Wydawca: RO-MAN

Domain and Modality Gaps for LiDAR-based Person Detection on Mobile Robots

Autorzy: Dan Jia, Alexander Hermans, Bastian Leibe
Opublikowane w: arXiv pre-publication, 2021
Wydawca: arXiv pre-publication

Physical Safety in Collisions Between Robots and Pedestrians

Autorzy: Paez-Granados, Diego Felipe; Gonon, David; Salvini, Pericle; Billard, Aude
Opublikowane w: IEEEE International Conference on Robot and Human Interactive Communication (ROMAN-2020) Workshop on Robots from Pathways to Crowds (Virtual conference), 2020
Wydawca: ROMAN-2020
DOI: 10.13140/rg.2.2.28087.55209

On the Safety of Mobile Robots Serving in Public Spaces, Identifying gaps in EN ISO 13482:2014 and calling for a new standard

Autorzy: Pericle Salvini, Diego Paez-Granados, Aude Billard
Opublikowane w: ACM Transactions on Human-Robot Interaction (THRI), 2020
Wydawca: ACM Transactions on Human-Robot Interaction (THRI)

UNDER REVIEW - Reinforcement Learning Based Shared-Control Navigation

Autorzy: Zhang, B., Holloway, C., Carlson, T.
Opublikowane w: ICRA 2022, 2022
Wydawca: ICRA 2022

Robot Navigation in Crowded Environments Using Deep Reinforcement Learning

Autorzy: Liu, Lucia; Dugas, Daniel; Cesari, Gianluca; Siegwart, Roland; Dubé, Renaud
Opublikowane w: IROS 2020, 2020
Wydawca: IROS

From HRI to CRI: Crowd Robot Interaction - understanding the effect of robots on crowd motion

Autorzy: Zhang, B., Amirian, J., Eberle, H., Pettré, J., Holloway, C., & Carlson, T.
Opublikowane w: International Journal of Social Robotics 2021, 2021
Wydawca: International Journal of Social Robotics 2021
DOI: 10.1007/s12369-021-00812-7

Understanding mental models in robot navigation: A shared-controlled wheelchair case study

Autorzy: Zhang, Bingqing; Holloway, Catherine; Carlson, Tom
Opublikowane w: Workshop on Mental Models of Robots at HRI 2020, 2020
Wydawca: HRI

Proactive-cooperative Navigation in Human-like Environment for Autonomous Robots

Autorzy: Paolo Salaris; Wanting Jin; Philippe Martinet
Opublikowane w: ICINCO 2020 - 17th International Conference on Informatics in Control, Automation and Robotics, Jul 2020, Paris / Online, France, Numer 1, 2020
Wydawca: ICINCO 2020
DOI: 10.5220/0009822004120419

OpenTraj: Assessing Prediction Complexity in Human Trajectories Datasets

Autorzy: Javad Amirian, Bingqing Zhang, Francisco Valente Castro, Juan Jose Baldelomar, Jean-Bernard Hayet, Julien Pettre
Opublikowane w: ACCV2020, 2020
Wydawca: arxiv

The Impact of Agent Definitions and Interactions on Multiagent Learning for Coordination

Autorzy: Chung, Jen Jen; Miklić, Damjan; Sabattini, Lorenzo; Tumer, Kagan; Siegwart, Roland
Opublikowane w: AAMAS '19 Proceedings of the 18th International Conference on Autonomous Agents and MultiAgent Systems, Numer 2, 2019
Wydawca: IFAAMAS
DOI: 10.3929/ethz-b-000358306

IAN: Multi-Behavior Navigation Planning for Robots in Real, Crowded Environments

Autorzy: Dugas, Daniel; Nieto, Juan; Siegwart, Roland; Chung, Jen Jen
Opublikowane w: IROS 2020, 2020
Wydawca: IROS

PLANNED - Crowd Navigation and Analysis of Pedestrian Response to Reactive Navigation Controllers

Autorzy: Paez-Granados D., He Y., Gonon D., Huber L., & Billard A.
Opublikowane w: IROS2022, 2022
Wydawca: IROS2022

A hierarchical design for shared-control wheelchair navigation in dynamic environments

Autorzy: Zhang, Bingqing; Holloway, Catherine; Carlson, Tom
Opublikowane w: SMC 2020, 2020
Wydawca: SMC

Enabling Socially Competent navigation through incorporating HRI

Autorzy: Cruz-Maya, Arturo; Garcia, Fernando; Pandey, Amit Kumar
Opublikowane w: HRI 2019, Numer 1, 2019
Wydawca: HRI

PLANNED - What we see and What we don't see: Imputing Occluded Crowd Structures from Robot Sensing

Autorzy: J Amirian, JB Hayet, J Pettre
Opublikowane w: arXiv pre-publication, 2021
Wydawca: arXiv pre-publication

Robust Sensor Fault Detection for a Shared Control Wheelchair

Autorzy: Eberle, H., & Carlson, T.
Opublikowane w: RehabWeek 2021, 2021
Wydawca: RehabWeek 2021

An ‘Ethical Black Box’, Learning From Disagreement in Shared Control Systems

Autorzy: Eberle, H., Zhang, B., Teodorescu, C., Walker, G., & Carlson, T.
Opublikowane w: Proceedings of the IEEE International Conference On Systems, Man, and Cybernetics (SMC) 2021, 2021
Wydawca: Proceedings of the IEEE International Conference On Systems, Man, and Cybernetics (SMC) 2021

Visual Person Understanding through Multi-Task and Multi-Dataset Learning

Autorzy: Kilian Pfeiffer, Alexander Hermans, Istvan Sarandi, Mark Weber, Bastian Leibe
Opublikowane w: GCPR 2019, 2019
Wydawca: GCPR 2019
DOI: 10.1007/978-3-030-33676-9_39

NavRep: Unsupervised Representations for Reinforcement Learning of Robot Navigation in Dynamic Human Environments

Autorzy: Daniel Dugas, Juan Nieto, Roland Siegwart and Jen Jen Chung
Opublikowane w: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Wydawca: ICRA2021
DOI: 10.1109/icra48506.2021.9560951

Generalized Microscropic Crowd Simulation using Costs in Velocity Space

Autorzy: Wouter van Toll, Fabien Grzeskowiak, Axel López Gandía, Javad Amirian, Florian Berton, Julien Bruneau, Beatriz Cabrero Daniel, Alberto Jovane, Julien Pettré
Opublikowane w: Symposium on Interactive 3D Graphics and Games, 2020, Strona(/y) 1-9, ISBN 9781450375894
Wydawca: ACM
DOI: 10.1145/3384382.3384532

PLANNED - NavRep3D: Reinforcement Learning for Camera-based Navigation among Humans

Autorzy: Daniel Dugas, Olov Andersson, Roland Siegwart and Jen Jen Chung
Opublikowane w: IROS2022, 2022
Wydawca: IROS2022

Unfreezing Social Navigation : Dynamical Systems based Compliance for Contact Control in Robot Navigation

Autorzy: Paez-Granados D., Gupta V. & Billard A.
Opublikowane w: Robotics Science and Systems (RSS) - Workshop on Social Robot Navigation, 2021
Wydawca: Robotics Science and Systems (RSS) - Workshop on Social Robot Navigation

Social ways: Learning multi-modal distributions of pedestrian trajectories with GANs

Autorzy: Amirian, Javad; Hayet, Jean-Baptiste; Pettré, Julien
Opublikowane w: IEEE Conference on Computer Vision and Pattern Recognition Workshops, 2019
Wydawca: CVPR 2019

Shared-control in Wheelchairs – Building Interaction Bridges

Autorzy: Zhang, B.; Holloway, C.; Carlson, T.; Ramirez Herrera, R.
Opublikowane w: In: CHI '19 Workshop: Weaving the Threads of Vehicle Automation. ACM: Glasgow, UK. (2019) (In press)., Numer 1, 2019
Wydawca: CHI

Self-Supervised Person Detection in 2D Range Data using a Calibrated Camera

Autorzy: Dan Jia, Mats Steinweg, Alexander Hermans, Bastian Leibe
Opublikowane w: IEEE International Conference on Robotics and Automation (ICRA) 2021, 2021
Wydawca: ICRA 2021
DOI: 10.1109/icra48506.2021.9561699

UNDER REVIEW - Unfreezing Social Navigation : Dynamical Systems based Compliance for Contact Control in Robot Navigation

Autorzy: Paez-Granados D., Gupta V. & Billard A.
Opublikowane w: ICRA 2022, 2022
Wydawca: ICRA 2022

STEm-Seg: Spatio-Temporal Embeddings for Instance Segmentation in Videos

Autorzy: Ali Athar, Sabarinath Mahadevan, Aljos̆a Os̆ep, Laura Leal-Taixé, Bastian Leibe
Opublikowane w: Computer Vision – ECCV 2020 - 16th European Conference, Glasgow, UK, August 23–28, 2020, Proceedings, Part XI, Numer 12356, 2020, Strona(/y) 158-177, ISBN 978-3-030-58620-1
Wydawca: Springer International Publishing
DOI: 10.1007/978-3-030-58621-8_10

Iteratively Trained Interactive Segmentation

Autorzy: Mahadevan, Sabarinath; Voigtlaender, Paul; Leibe, Bastian
Opublikowane w: British Machine Vision Conference (BMVC), Numer 1, 2018
Wydawca: BMVA

DR-SPAAM: A Spatial-Attention and Auto-regressive Model for Person Detection in 2D Range Data

Autorzy: Jia, Dan; Hermans, Alexander; Leibe, Bastian
Opublikowane w: International Conference on Intelligent Robots and Systems, Numer 1, 2020
Wydawca: IEEE/RSJ

Making a Case for 3D Convolutions for Object Segmentation in Videos

Autorzy: Sabarinath Mahadevan, Ali Athar, Aljosa Osep, Sebastian Hennen, Laura Leal-Taixe, Bastian Leibe
Opublikowane w: British Machine Vision Conference (BMVC), 2020
Wydawca: BMVA

Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd

Autorzy: Fabien Grzeskowiak, David Gonon, Daniel Dugas, Diego Paez-Granados, Jen Chung, Juan Nieto, Roland Siegwart, Aude Billard, Marie Babel, Julien Pettré
Opublikowane w: ICRA 2021, 2021
Wydawca: ICRA 2021

Toward Virtual Reality-based Evaluation of Robot Navigation among People

Autorzy: Grzeskowiak, Fabien; Babel, Marie; Bruneau, Julien; Pettre, Julien
Opublikowane w: 2020 IEEE VR, 2020
Wydawca: IEEE VR

Data-Driven Crowd Simulation with Generative Adversarial Networks

Autorzy: Javad Amirian, Wouter van Toll, Jean-Bernard Hayet, Julien Pettré
Opublikowane w: Proceedings of the 32nd International Conference on Computer Animation and Social Agents - CASA '19, 2019, Strona(/y) 7-10, ISBN 9781450371599
Wydawca: ACM Press
DOI: 10.1145/3328756.3328769

UNDER REVIEW - Estimating risks posed by personal mobility devices and service robots to pedestrians : comparative crash testing on adult and child dummies

Autorzy: Paez-Granados D. & Billard A.
Opublikowane w: 2022
Wydawca: Journal

Crowd Navigation in VR: exploring haptic rendering of collisions

Autorzy: Berton, Florian; Grzeskowiak, Fabien; bonneau, Alexandre; Jovane, Alberto; Aggravi, Marco; Hoyet, Ludovic; Olivier, Anne-Hélène; Pacchierotti, Claudio; Pettré, Julien
Opublikowane w: IEEE Transactions on Visualization and Computer Graphics, Numer 1, 2020, ISBN 9781450375894
Wydawca: IEEE Transactions on Visualization and Computer Graphics
DOI: 10.1109/tvcg.2020.3041341

From freezing to jostling robots: Current challenges and new paradigms for safe robot navigation in dense crowds

Autorzy: Pettré, Julien; Babel, Marie; Hayet, Jean-Bernard; Salaris, Paolo; Salvini, Pericle
Opublikowane w: IROS 2018, 2018
Wydawca: IROS

PLANNED - Flowbot: Flow-based Modelling of Crowds for Robot Navigation Planning

Autorzy: Daniel Dugas, Olov Andersson, Roland Siegwart and Jen Jen Chung
Opublikowane w: IROS2022, 2022
Wydawca: IROS2022

Investigating the effects of social interactive behaviours of a robot on people’s trust during a navigation task

Autorzy: Alessandra Rossi, Fernando Garcia, Arturo Cruz Maya, Kerstin Dautenhahn, Kheng Lee Koay, Michael L. Walters, and Amit K. Pandey
Opublikowane w: Annual Conference Towards Autonomous Robotic Systems 2019, 2019
Wydawca: Springer

Wait for me! Towards socially assistive walk companions

Autorzy: Garcia, Fernando; Pandey, Amit Kumar; Fattal, Charles
Opublikowane w: HRI 2019, Numer 2, 2019
Wydawca: HRI

Person-MinkUNet: 3D Person Detection with LiDAR Point Cloud

Autorzy: Dan Jia, Bastian Leibe
Opublikowane w: IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), 2021, 2021
Wydawca: CVPRW 2021

A Data-driven Model for Interaction-Aware Pedestrian Motion Prediction in Object Cluttered Environments

Autorzy: Mark Pfeiffer, Giuseppe Paolo, Hannes Sommer, Juan Nieto, Rol Siegwart, Cesar Cadena
Opublikowane w: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Strona(/y) 1-8, ISBN 978-1-5386-3081-5
Wydawca: IEEE
DOI: 10.1109/ICRA.2018.8461157

Design requirements and challenges for intelligent power wheelchair use in crowds: learning from expert wheelchair users

Autorzy: Zhang, B., Eberle, H., Holloway, C., & Carlson, T.
Opublikowane w: Proceedings of the RESNA Annual Conference 2021., 2021
Wydawca: Proceedings of the RESNA Annual Conference 2021.

Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd.

Autorzy: F. Grzeskowiak, D. Gonon, D. Dugas, D. Paez-Granados, J. J. Chung, J. Nieto, R. Siegwart, A. Billard, M. Babel and J. Pettré
Opublikowane w: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021
Wydawca: ICRA2021
DOI: 10.1109/icra48506.2021.9561694

CONDITIONAL ACCEPT - Understanding Interactions for Smart Wheelchair Navigation in Crowds

Autorzy: Zhang, B., Herrera, R., Barbareschi, G., Carlson, T., Holloway, C
Opublikowane w: CHI 2022, 2022
Wydawca: CHI 2022

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

Autorzy: Salvini, Pericle; Paez-Granados, Diego Felipe; Billard, Aude
Opublikowane w: International Journal of Social Robotics 2020, 2020
Wydawca: International Journal of Social Robotics 2020

Peer reviewed articles (7)

MeTRAbs: Metric-Scale Truncation-Robust Heatmaps for Absolute 3D Human Pose Estimation

Autorzy: Istvan Sarandi, Timm Linder, Kai Oliver Arras, Bastian Leibe
Opublikowane w: IEEE Transactions on Biometrics, Behavior, and Identity Science, Numer 3/1, 2021, Strona(/y) 16-30, ISSN 2637-6407
Wydawca: IEEE Transactions on Biometrics, Behavior, and Identity Science
DOI: 10.1109/tbiom.2020.3037257

Avoidance of Convex and Concave Obstacles With Convergence Ensured Through Contraction

Autorzy: Lukas Huber, Aude Billard, Jean-Jacques Slotine
Opublikowane w: IEEE Robotics and Automation Letters, Numer 4/2, 2019, Strona(/y) 1462-1469, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/LRA.2019.2893676

Reactive Navigation in Crowds for Non-holonomic Robots with Convex Bounding Shape

Autorzy: Gonon D., Paez-Granados D. & Billard A.
Opublikowane w: IEEE Robotics and Automation Letters, Numer 6, 2021, Strona(/y) 4728 - 4735, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2021.3068660

The impact of agent definitions and interactions on multiagent learning for coordination in traffic management domains

Autorzy: Jen Jen Chung, Damjan Miklić, Lorenzo Sabattini, Kagan Tumer, Roland Siegwart
Opublikowane w: Autonomous Agents and Multi-Agent Systems, Numer 34/1, 2020, ISSN 1387-2532
Wydawca: Kluwer Academic Publishers
DOI: 10.1007/s10458-020-09442-1

Online Optimal Perception-Aware Trajectory Generation

Autorzy: Paolo Salaris, Marco Cognetti, Riccardo Spica, Paolo Robuffo Giordano
Opublikowane w: IEEE Transactions on Robotics, Numer 35/6, 2019, Strona(/y) 1307-1322, ISSN 1552-3098
Wydawca: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2019.2931137

Deep Person Detection in Two-Dimensional Range Data

Autorzy: Lucas Beyer, Alexander Hermans, Timm Linder, Kai O. Arras, Bastian Leibe
Opublikowane w: IEEE Robotics and Automation Letters, Numer 3/3, 2018, Strona(/y) 2726-2733, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2018.2835510

Reinforced Imitation: Sample Efficient Deep Reinforcement Learning for Mapless Navigation by Leveraging Prior Demonstrations

Autorzy: Mark Pfeiffer, Samarth Shukla, Matteo Turchetta, Cesar Cadena, Andreas Krause, Roland Siegwart, Juan Nieto
Opublikowane w: IEEE Robotics and Automation Letters, Numer 3/4, 2018, Strona(/y) 4423-4430, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2018.2869644

Other (1)

Materializing Personal Standing Mobility from Design to Shared Control

Autorzy: Paez-granados, D.; Billard, A.; & Suzuki, K.
Opublikowane w: 2020
Wydawca: CYBATHLON Symposium. Virtual Conference

Thesis and dissertations (2)

Learning to Navigate: Data-driven Motion Planning for Autonomous Ground Robots

Autorzy: Pfeiffer, Mark
Opublikowane w: Numer 2, 2018
Wydawca: NA
DOI: 10.3929/ethz-b-000324253

Active SLAM in Crowded Environments

Autorzy: Dario Mammolo Supervisors: Daniel Dugas, Jen Jen Chung, Mark Pfeiffer, Roland Siegwart Institution: ETH Zürich
Opublikowane w: 2019
Wydawca: NA
DOI: 10.3929/ethz-b-000341706

Prawa własności intelektualnej

Utility model (1)

HAPTISCHES BEDIENGERÄT UND ANTRIEBSVORRICHTUNG

Numer wniosku/publikacji: DE 21176844.5
Data: 2020-05-29
Wnioskodawca/wnioskodawcy: LOCOMOTEC GMBH