群衆ナビゲーションを成功させるための学習戦略
Learning Strategies For Successful Crowd Navigation
実機ロボットを用いて、トップダウン画像を入力とするCNNで速度と角度を出力し、人間の群衆の中を社会的規範を保ちながらナビゲートする戦略をその場で学習する手法を提案・評価した。
著者: Rajshree Daulatabad, Serena Nath
分類: cs.RO, cs.AI, cs.SY, eess.SY
原文アブストラクト
Teaching autonomous mobile robots to successfully navigate human crowds is a challenging task. Not only does it require planning, but it requires maintaining social norms which may differ from one context to another. Here we focus on crowd navigation, using a neural network to learn specific strategies in-situ with a robot. This allows us to take into account human behavior and reactions toward a real robot as well as learn strategies that are specific to various scenarios in that context. A CNN takes a top-down image of the scene as input and outputs the next action for the robot to take in terms of speed and angle. Here we present the method, experimental results, and quantitatively evaluate our approach.