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Socially Normative Robot Navigation Behaviors

This meta-package contains a set of packages that implement different socially normative mobile robot navigation behaviors particularly geared at service robots operating in crowded scenes.

Depencies

  • C++11 compiler
  • ROS setup (including move_base, rviz)
  • Spencer related messages and robot control

Usage

# checkout into a catkin workspace
catkin build socially_normative_navigation
roslaunch snn_launchers lobby.launch

Authors

Billy Okal

Note

This is research code used actively in the SPENCER project. If you use this code, please cite any the following papers;

@InProceedings{okalRSSLfd15,
   author = {Okal, Billy and Arras, Kai O.},
    title = {Learning Socially Normative Robot Navigation Behaviors
using Bayesian Inverse Reinforcement Learning},
    booktitle={IEEE Int. Conference on Robotics and Automation
(ICRA)},
    address = {Stockholm, Sweeden},
    year={2016},
}