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HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation

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dc.contributor.authorPérez Higueras, Noé
dc.contributor.authorOtero Galán, Roberto
dc.contributor.authorCaballero, Fernando
dc.contributor.authorMerino, Luis
dc.date.accessioned2025-03-07T10:11:06Z
dc.date.available2025-03-07T10:11:06Z
dc.date.issued2023-09-15
dc.descriptionProyectos de investigación: PY20_00817 NHoA PLEC2021-007868 NORDIC TED2021-132476B-I00 (financiación MCIN/AEI/10.13039/501100011033)
dc.description.abstractThis work presents the Human Navigation Simulator (HuNavSim), a novel open-source tool for the simulation of different human-agent navigation behaviors in scenarios with mobile robots. The tool, the first programmed under the ROS 2 framework, can be used together with different well-known robotics simulators like Gazebo. The main goal is to facilitate the development and evaluation of human-aware robot navigation systems in simulation. In addition to a general human-navigation model, HuNavSim includes, as a novelty, a rich set of individual and varied human navigation behaviors and an comprehensive set of metrics for social navigation benchmarking.
dc.description.sponsorshipService Robotics Lab
dc.description.sponsorshipDepartamento de Deporte e Informática
dc.format.mimetypeapplication/pdf
dc.identifier.citationN. Pérez-Higueras, R. Otero, F. Caballero and L. Merino, "HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation," in IEEE Robotics and Automation Letters, vol. 8, no. 11, pp. 7130-7137, Nov. 2023, doi: 10.1109/LRA.2023.3316072.
dc.identifier.doi10.1109/LRA.2023.3316072
dc.identifier.urihttps://hdl.handle.net/10433/23447
dc.language.isoen
dc.publisherIEEE
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internationalen
dc.rights.accessRightsopen access
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subjectNavigation
dc.subjectRobots
dc.subjectBehavioral sciences
dc.subjectMeasurement
dc.subjectBenchmark testing
dc.subjectHuman-aware motion planning
dc.subjectPerformance evaluation and benchmarking;simulation and animation
dc.titleHuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation
dc.typejournal article
dc.type.hasVersionAM
dspace.entity.typePublication
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relation.isAuthorOfPublication.latestForDiscoveryc280da0b-63c4-4627-98bb-8b1e4589ef77

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