Autonomous Navigation in dynamic and human populated environments

My research focuses on navigation and autonomous vehicles (cars and wheelchairs) in dynamic and human populated environments.

Here are a few videos illustrating the risk-based navigation algorithm that predicts the behavior of the pedestrians to better plan the trajectory of the robot. Proxemics is used also to plan socially aware trajectories. Finally, a new strategy to navigation in crowded environment is proposed.

For a detailed bibliography and pdf, please refer to my publications on hal.

Risk-based navigation algorithm


Fulgenzi, C., Spalanzani, A., and Laugier, C. (2009). Probabilistic motion planning among moving obstacles following typical motion patterns. In IEEE/RSJ International Conference on Intelligent RObots and Systems, St. Louis, Missouri USA.

Human Aware navigation:


Jorge Rios-Martinez, Christian Laugier, Anne Spalanzani. Understanding human interaction for probabilistic autonomous navigation using Risk-RRT approach. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2011, San Francisco, United States. 2011.
Dizan Vasquez, Procópio Stein, Jorge Rios-Martinez, Arturo Escobedo, Anne Spalanzani, et al.. Human Aware Navigation for Assistive Robotics. ISER - 13th International Symposium on Experimental Robotics - 2012, Jun 2012, Québec, Canada. 2012.

Navigation taking advantage of moving agents:

Procopio Silveira Stein, Vitor Santos, Anne Spalanzani, Christian Laugier. Navigating in Populated Environments by Following a Leader. Ro-man 2013 - International Symposium on Robot and Human Interactive Communication, Gyeongju, North Korea. 2013.
Procópio Stein, Anne Spalanzani, Vitor Santos, Christian Laugier. Leader following: A study on classification and selection. Robotics and Autonomous Systems, Elsevier, 2014.



CURRENT PhD Students and postdoc

Pavan Vashishta, 2016-2019 « Prise en compte de l’interaction Homme/véhicule dans la navigation de véhicules autonomes »

Mihai Popescu, 2015-2019 « Mobilité au sein de flottes de robots sous contrainte de maintien de la connectivité ».

Niranjan Deshpande, 2018-2021 "Semantic based human aware navigation"

Manon Prédhumeau 2018-2021 "Social Navigation of autonomous vehicles in crowds"

Maria Kabtoul 2018-2021"Proactive Navigation of autonomous vehicles in shared spaces "

Luis Alberto Sarafim Guardini 2018-2021 "Conduite Automobile Autonome : Utilisation de grilles d’occupation probabilistes dynamiques pour la planification contextualisée de trajectoire d’urgence à criticité minimale "

Mario Garzon 2018-2020 « Navigation of autonomous vehicle in very dense environments ».

FORMER STUDENTS and POSTDOC

Narayanan Vishnu K. 2013-2016 « Characterizing assistive shared control through vision-based and human-aware designs for wheelchair mobility assistance". ».

Arturo Escobedo 2010- 2014 « User Intention Estimation for Semi-Autonomous Navigation of a Robotic Wheelchair ».

Panagiotis Papadakis 2012-2013 « Learning proxemics for human aware navigation ».

Procopio Stein 2013- 2015, « Leader following for navigating among crowds ».

Jorge Rios-Martinez 2009- 2013 « Socially-Aware Robot Navigation: combining Risk Assessment and Social Conventions ».

Chiara Fulgenzi 2006-2009 "Risk-based navigation in dynamic and uncertain environments"