Towards S-NAMO: Socially-aware Navigation Among Movable Obstacles
This work addresses social acceptability for robotics navigation, but it is incremental as it builds upon existing NAMO literature.
The paper tackles the problem of social acceptability in Navigation Among Movable Obstacles (NAMO) by defining objectives for Socially-Aware NAMO and proposing initial algorithms, with preliminary tests conducted using a Pepper robot in the Robocup@home context.
In this paper, we present an in-depth analysis of Navigation Among Movable Obstacles (NAMO) literature, notably highlighting that social acceptability remains an unadressed problem in this robotics navigation domain. The objectives of a Socially-Aware NAMO are defined and a first set of algorithmic propositions is built upon existing work. We developed a simulator allowing to test our propositions of social movability evaluation for obstacle selection, and social placement of objects with a semantic map layer. Preliminary pushing tests are done with a Pepper robot, the standard platform for the Robocup@home Social Standard Platform League, in the context of our participation (LyonTech Team).