Robot’s Workspace Enhancement with Dynamic Human Presence for Socially-Aware Navigation

Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10528)


The incorporation of service robots in human populated environments gives rise to the adaptation of cruise strategies that allow robots to move in a natural, secure and ordinary manner among their cohabitants. Therefore, robots should firstly apprehend their space similarly with the people and, secondly, should adopt human motion anticipation strategies in their planning mechanism. The paper at hand introduces a closed-loop human oriented robot navigation strategy, where on-board a moving robot, multimodal human detection and tracking methods are deployed to predict human motion intention in the shared workspace. The human occupied space is probabilistically constrained following the proxemics theory. The impact of human presence in the commonly shared space is imprinted to the robot’s navigation behaviour after undergoing a social filtering step based on the inferred walking pattern. The proposed method has been integrated with a robotic platform and extensively evaluated in terms of socially acceptable behaviour in real-life experiments exhibiting increased navigation capacity in human populated environments.


Robot navigation Leg and human skeleton tracker Social costmap Human motion intension prediction Robot path planning 



This work has been supported by the EU Horizon 2020 funded project namely: “Robotic Assistant for MCI Patients at home (RAMCIP)” under the grant agreement with no: 643433.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.Centre for Research & Technology Hellas, Information Technologies InstituteThermi-ThessalonikiGreece

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