Pérez Higueras, NoéOtero Galán, RobertoCaballero, FernandoMerino, Luis2025-03-072025-03-072023-09-15N. 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.2023.3316072.10.1109/LRA.2023.3316072https://hdl.handle.net/10433/23447Proyectos de investigación: PY20_00817 NHoA PLEC2021-007868 NORDIC TED2021-132476B-I00 (financiación MCIN/AEI/10.13039/501100011033)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.application/pdfenAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/NavigationRobotsBehavioral sciencesMeasurementBenchmark testingHuman-aware motion planningPerformance evaluation and benchmarking;simulation and animationjournal articleopen access