# Human-Aware Navigation Planner for Diverse Human-Robot Contexts

arXiv: https://arxiv.org/abs/2106.09971 · HTML: https://mlsanity.com/paper/2106.09971/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 18 Jun 2021.

## Built on by (most cited first, 1 of 1)

- [SocNavGym: A Reinforcement Learning Gym for Social Navigation](https://mlsanity.com/paper/2304.14102/) (2023)

## Abstract (arXiv)

As more robots are being deployed into human environments, a human-aware navigation planner needs to handle multiple contexts that occur in indoor and outdoor environments. In this paper, we propose a tunable human-aware robot navigation planner that can handle a variety of humanrobot contexts. We present the architecture of the planner and discuss the features and some implementation details. Then we present a detailed analysis of various simulated humanrobot contexts using the proposed planner along with some quantitative results. Finally, we show the results in a real-world scenario after deploying our system on a real robot.