Kyle Morgenstein,   Junfeng Jiao,   Luis Sentis

Presented at the 2nd Human Interactive Robot Learning workshop at HRI 2023

Navigation strategies that intentionally incorporate contact with humans (i.e. “contact-based” social navigation) in crowded environments are largely unexplored even though collision-free social navigation is a well studied problem. Traditional social navigation frameworks require the robot to stop suddenly or “freeze” whenever a collision is imminent. This paradigm poses two problems: 1) freezing while navigating a crowd may cause people to trip and fall over the robot, resulting in more harm than the collision itself, and 2) in very dense social environments where collisions are unavoidable, such a control scheme would render the robot unable to move and preclude the opportunity to study how humans incorporate robots into these environments. However, if robots are to be meaningfully included in crowded social spaces, such as busy streets, subways, stores, or other densely populated locales, there may not exist trajectories that can guarantee zero collisions. Thus, adoption of robots in these environments requires the development of minimally disruptive navigation plans that can safely plan for and respond to contacts. We propose a learning-based motion planner and control scheme to navigate dense social environments using safe contacts for an omnidirectional mobile robot. The planner is evaluated in simulation over 360 trials with crowd densities varying between 0.0 and 1.6 people per square meter. Our navigation scheme is able to use contact to safely navigate in crowds of higher density than has been previously reported, to our knowledge.