CBF-Based STL Motion Planning for Social Navigation in Crowded Environment (2404.00353v1)
Abstract: A motion planning methodology based on the combination of Control Barrier Functions (CBF) and Signal Temporal Logic (STL) is employed in this paper. This methodology allows task completion at any point within a specified time interval, considering a dynamic system subject to velocity constraints. In this work, we apply this approach into the context of Socially Responsible Navigation (SRN), introducing a rotation constraint. This constraint is designed to maintain the user within the robot's field of view (FOV), enhancing human-robot interaction with the concept of side-by-side human-robot companion. This angular constraint offers the possibility to customize social navigation to specific needs, thereby enabling safe SRN. Its validation is carried out through simulations demonstrating the system's effectiveness in adhering to spatio-temporal constraints, including those related to robot velocity, rotation, and the presence of static and dynamic obstacles.
- Human-aware navigation planner for diverse human-robot interaction contexts. In IEEE Int. Conf. Intell. Robots Syst. (IROS), 2021.
- Navigation control design of a mobile robot by integrating obstacle avoidance and lidar slam. In IEEE Int. Conf. Syst., Man, Cybern. (SMC), 2018.
- Online social robot navigation in indoor, large and crowded environments. In IEEE Int. Conf. Robot. Autom. (ICRA), 2023.
- R. Triebel et al. SPENCER: A socially aware service robot for passenger guidance and help in busy airports. In Field and Service Robotics: Results of the 10th International Conference. Springer, 2016.
- Interactive mobile robots guiding visitors in a university building. In IEEE Int. Symp Robot and Human Interactive Communication (RO-MAN), 2012.
- On-line adaptive side-by-side human robot companion in dynamic urban environments. In IEEE Int. Conf. Intell. Robots Syst. (IROS), 2017.
- O. Maler and D. Nickovic. Monitoring temporal properties of continuous signals. In Int. Symp. Formal Techniques in Real-Time and Fault-Tolerant Systems. Springer, 2004.
- CBF-based motion planning for socially responsible robot navigation guaranteeing stl specification. Submitted to Eur. Control Conf. (ECC), 2024.
- L Lindemann and D. V Dimarogonas. Barrier function based collaborative control of multiple robots under signal temporal logic tasks. IEEE Transactions on Control of Network Systems, 2020.
- Directed graph topology preservation in multi-robot systems with limited field of view using control barrier function. Submited to IEEE Access, 2023.
- Omni-directional mobile robot controller based on trajectory linearization. Robot. and Auton. Syst., 2008.