Core Challenges of Social Robot Navigation: A Survey

Christoforos Mavrogiannis; Francesca Baldini; Allan Wang; Dapeng Zhao; Pete Trautman; Aaron Steinfeld; Jean Oh

doi:10.1145/3583741

journal article Apr 24, 2023

Core Challenges of Social Robot Navigation: A Survey

Christoforos Mavrogiannis Francesca Baldini Allan Wang Dapeng Zhao

Pete Trautman Aaron Steinfeld Jean Oh

ACM Transactions on Human-Robot Interaction Vol. 12 No. 3 pp. 1-39 · Association for Computing Machinery (ACM)

View at Publisher Save 10.1145/3583741

Abstract

Robot navigation in crowded public spaces is a complex task that requires addressing a variety of engineering and human factors challenges. These challenges have motivated a great amount of research resulting in important developments for the fields of robotics and human-robot interaction over the past three decades. Despite the significant progress and the massive recent interest, we observe a number of significant remaining challenges that prohibit the seamless deployment of autonomous robots in crowded environments. In this survey article, we organize existing challenges into a set of categories related to broader open problems in robot planning, behavior design, and evaluation methodologies. Within these categories, we review past work and offer directions for future research. Our work builds upon and extends earlier survey efforts by (a) taking a critical perspective and diagnosing fundamental limitations of adopted practices in the field and (b) offering constructive feedback and ideas that could inspire research in the field over the coming decade.

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Details

Published: Apr 24, 2023
Vol/Issue: 12(3)
Pages: 1-39
License: View

Authors

C

Christoforos Mavrogiannis

Paul G. Allen School of Computer Science & Engineering, University of Washington, WA, USA

F

Francesca Baldini

Honda Research Institute and California Institute of Technology, Pasadena, CA, USA

A

Allan Wang

The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA

D

Dapeng Zhao

The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA

P

Pete Trautman

Honda Research Institute, San Jose, CA, USA

A

Aaron Steinfeld

The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA

J

Jean Oh

The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA

Funding

Air Force Office of Scientific Research Award: AFOSR FA2386-17-1-4660

National Institute on Disability, Independent Living, and Rehabilitation Research Award: NIDILRR 90DPGE0003

Honda Research Institute USA, the National Science Foundation Award: NSF IIS-1734361

U.S. Army Ground Vehicle Systems Center & Software Engineering Institute at Carnegie Mellon University Award: PWP 6-652A4 DDCD GVSC

Ministry of Trade, Industry and Energy (MOTIE) and Korea Institute of Advancement of Technology (KIAT) through the International Cooperative R&D program Award: P0019782

Cite This Article

Christoforos Mavrogiannis, Francesca Baldini, Allan Wang, et al. (2023). Core Challenges of Social Robot Navigation: A Survey. ACM Transactions on Human-Robot Interaction, 12(3), 1-39. https://doi.org/10.1145/3583741

Core Challenges of Social Robot Navigation: A Survey

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