mlsanityData to 7 Oct 2026

Learned Tree Search for Long-Horizon Social Robot Navigation in Shared Airspace

arXiv 2304.01428 ↗First posted 4 Apr 2023cs.RO cs.AI cs.LGcited by 0

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Abstract (arXiv)

The fast-growing demand for fully autonomous aerial operations in shared spaces necessitates developing trustworthy agents that can safely and seamlessly navigate in crowded, dynamic spaces. In this work, we propose Social Robot Tree Search (SoRTS), an algorithm for the safe navigation of mobile robots in social domains. SoRTS aims to augment existing socially-aware trajectory prediction policies with a Monte Carlo Tree Search planner for improved downstream navigation of mobile robots. To evaluate the performance of our method, we choose the use case of social navigation for general aviation. To aid this evaluation, within this work, we also introduce X-PlaneROS, a high-fidelity aerial simulator, to enable more research in full-scale aerial autonomy. By conducting a user study based on the assessments of 26 FAA certified pilots, we show that SoRTS performs comparably to a competent human pilot, significantly outperforming our baseline algorithm. We further complement these results with self-play experiments in scenarios with increasing complexity.

Key facts. No citing papers in the map yet (data through 7 Oct 2026). Builds on 21 of its 41 references that are in the map. First posted on arXiv 4 Apr 2023.

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21 of 41 references.

References · 21

  1. 2019Exploring the Limitations of Behavior Cloning for Autonomous Drivingcited by 343
  2. 2019Human Motion Trajectory Prediction: A Surveycited by 231
  3. 2018Crowd-Robot Interaction: Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learningcited by 162
  4. 2017Socially Aware Motion Planning with Deep Reinforcement Learningcited by 128
  5. 2016Decentralized Non-communicating Multiagent Collision Avoidance with Deep Reinforcement Learningcited by 104
  6. 2018Motion Planning Among Dynamic, Decision-Making Agents with Deep Reinforcement Learningcited by 101
  7. 2021Core Challenges of Social Robot Navigation: A Surveycited by 97
  8. 2021Modeling Strong and Human-Like Gameplay with KL-Regularized Searchcited by 50
  9. 2020Decentralized Structural-RNN for Robot Crowd Navigation with Deep Reinforcement Learningcited by 36
  10. 2020DenseCAvoid: Real-time Navigation in Dense Crowds using Anticipatory Behaviorscited by 25
  11. 2021SocNavBench: A Grounded Simulation Testing Framework for Evaluating Social Navigationcited by 23
  12. 2021Safety Assurances for Human-Robot Interaction via Confidence-aware Game-theoretic Human Modelscited by 21
9 more
  1. 2022Social-PatteRNN: Socially-Aware Trajectory Prediction Guided by Motion Patternscited by 12
  2. 2022Task-Relevant Failure Detection for Trajectory Predictors in Autonomous Vehiclescited by 11
  3. 2022Active Uncertainty Reduction for Human-Robot Interaction: An Implicit Dual Control Approachcited by 10
  4. 2020Leveraging Neural Network Gradients within Trajectory Optimization for Proactive Human-Robot Interactionscited by 8
  5. 2022Follow The Rules: Online Signal Temporal Logic Tree Search for Guided Imitation Learning in Stochastic Domainscited by 7
  6. 2020NaviGAN: A Generative Approach for Socially Compliant Navigationcited by 6
  7. 2021Neural Tree Expansion for Multi-Robot Planning in Non-Cooperative Environmentscited by 5
  8. 2021Predicting Like A Pilot: Dataset and Method to Predict Socially-Aware Aircraft Trajectories in Non-Towered Terminal Airspacecited by 5
  9. 2020Realtime Collision Avoidance for Mobile Robots in Dense Crowds using Implicit Multi-sensor Fusion and Deep Reinforcement Learningcited by 4

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