The interactive museum tour-guide robot
AAAI '98/IAAI '98 Proceedings of the fifteenth national/tenth conference on Artificial intelligence/Innovative applications of artificial intelligence
Controlling individual agents in high-density crowd simulation
SCA '07 Proceedings of the 2007 ACM SIGGRAPH/Eurographics symposium on Computer animation
Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Motion planning of a dual-arm mobile robot in the configuration-time space
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Discrete time motion model for guiding people in urban areas using multiple robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
An approach to close the gap between simulation and real robots
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
A Human Aware Mobile Robot Motion Planner
IEEE Transactions on Robotics
Abstracting People's Trajectories for Social Robots to Proactively Approach Customers
IEEE Transactions on Robotics
Will i bother here?: a robot anticipating its influence on pedestrian walking comfort
Proceedings of the 8th ACM/IEEE international conference on Human-robot interaction
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We describe a simulation framework aimed to develop and test robots before deploying them in a real environment crowded with pedestrians. In order to use mobile robots in the real world, it is necessary to test whether they are able to navigate well, i.e. without causing safety risks to humans. This task is particular difficult due to the complex behavior pedestrians have towards each other and also towards the robot, that can be perceived either as an obstacle to avoid or as an object of interest to approach for curiosity. To overcome this difficulty, our framework involves a pedestrian simulator, based on a collision avoidance model developed to describe low density conditions as those occurring in shopping malls, to test the robot's navigation capability among pedestrians. Furthermore, we analyzed the behavior of pedestrians towards a robot in a shopping mall to build a human-to-robot interaction model that was introduced in the simulator. Our simulator works as a tool to test the level of safety of robot navigation before deploying it in a real environment. We demonstrate our approach showing how we used the simulator, and how the robot finally navigated in a real environment.