%0 Journal Article
%A Pérez Higueras, Noé
%A Otero Galán, Roberto
%A Caballero, Fernando
%A Merino, Luis
%T HuNavSim: A ROS 2 Human Navigation Simulator for Benchmarking Human-Aware Robot Navigation
%D 2023
%U https://hdl.handle.net/10433/23447
%X This 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.
%K Navigation
%K Robots
%K Behavioral sciences
%K Measurement
%K Benchmark testing
%K Human-aware motion planning
%K Performance evaluation and benchmarking;simulation and animation
%~