# Projecting Robot Navigation Paths: Hardware and Software for Projected AR

arXiv: https://arxiv.org/abs/2112.05172 · HTML: https://mlsanity.com/paper/2112.05172/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 9 Dec 2021.

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

- [Leveraging Large Language Models in Human-Robot Interaction: A Critical Analysis of Potential and Pitfalls](https://mlsanity.com/paper/2405.00693/) (2024)

## Abstract (arXiv)

For mobile robots, mobile manipulators, and autonomous vehicles to safely navigate around populous places such as streets and warehouses, human observers must be able to understand their navigation intent. One way to enable such understanding is by visualizing this intent through projections onto the surrounding environment. But despite the demonstrated effectiveness of such projections, no open codebase with an integrated hardware setup exists. In this work, we detail the empirical evidence for the effectiveness of such directional projections, and share a robot-agnostic implementation of such projections, coded in C++ using the widely-used Robot Operating System (ROS) and rviz. Additionally, we demonstrate a hardware configuration for deploying this software, using a Fetch robot, and briefly summarize a full-scale user study that motivates this configuration. The code, configuration files (roslaunch and rviz files), and documentation are freely available on GitHub at https://github.com/umhan35/arrow_projection.