Robots Learning How and Where to Approach …

Robots Learning How and Where to Approach PeopleOmar A. Islas Ram rezaHarmish KhambhaitabRaja ChatilaaMohamed ChetouaniaRachid AlamibAbstractRobot navigation in human environments has been in theeyes of researchers for the last few years. Robots operat-ing under these circumstances have to take human aware-ness into consideration for safety and acceptance , navigation have been often treated as goingtowards a goal point or avoiding people, without consid-ering the robot engaging a person or a group of people inorder to interact with them. This paper presents two navi-gation approaches based on the use of inverse reinforcementlearning (IRL) from exemplar situations. This allow us toimplement two path planners that take into account socialnorms for navigation towards isolated people. For the firstplanner, we learn an appropriate way to Approach a personin an open area without static obstacles, this information isused to generate robot s path plan.

the human-centered polar representation of the robot with respect to the person. This representation is depicted in Figure 2. Figure 2: Human centered State

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  Approach, Where, Learning, Persons, Centered, Robot, Robots learning how and where to approach

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