University of Oulu

Human aware robot navigation

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Author: Kafle, Aayush1
Organizations: 1University of Oulu, Faculty of Information Technology and Electrical Engineering, Computer Science
Format: ebook
Version: published version
Access: open
Online Access: PDF Full Text (PDF, 13 MB)
Pages: 58
Persistent link:
Language: English
Published: Oulu : A. Kafle, 2022
Publish Date: 2022-07-01
Thesis type: Master's thesis (tech)
Tutor: Suomalainen, Markku
Sakcak, Basak
Tiwari, Kshitij
Reviewer: Sakcak, Basak
Suomalainen, Markku


Human aware robot navigation refers to the navigation of a robot in an environment shared with humans in such a way that the humans should feel comfortable, and natural with the presence of the robot. On top of that, the robot navigation should comply with the social norms of the environment. The robot can interact with humans in the environment, such as avoiding them, approaching them, or following them. In this thesis, we specifically focus on the approach behavior of the robot, keeping the other use cases still in mind. Studying and analyzing how humans move around other humans gives us the idea about the kind of navigation behaviors that we expect the robots to exhibit. Most of the previous research does not focus much on understanding such behavioral aspects while approaching people. On top of that, a straightforward mathematical modeling of complex human behaviors is very difficult. So, in this thesis, we proposed an Inverse Reinforcement Learning (IRL) framework based on Guided Cost Learning (GCL) to learn these behaviors from demonstration. After analyzing the CongreG8 dataset, we found that the incoming human tends to make an O-space (circle) with the rest of the group. Also, the approaching velocity slows down when the approaching human gets closer to the group. We utilized these findings in our framework that can learn the optimal reward and policy from the example demonstrations and imitate similar human motion.

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Copyright information: © Aayush Kafle, 2022. Except otherwise noted, the reuse of this document is authorised under a Creative Commons Attribution 4.0 International (CC-BY 4.0) licence ( This means that reuse is allowed provided appropriate credit is given and any changes are indicated. For any use or reproduction of elements that are not owned by the author(s), permission may need to be directly from the respective right holders.