Human-aware navigation for autonomous mobile robots for intra-factory logistics

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2 Citations (Scopus)


This paper presents a human-aware navigation system for mobile robots targeted to cooperative assembly in intra-factory logistics scenarios. To improve overall efficiency of the operator-robot ensemble, assembly stations and operators are modelled as cost functions in a layered cost map supporting the robot navigation system. At each new sensory update, the system uses each operator’s estimated location to affect the cost map accordingly. To promote predictability and comfort in the human operator, the cost map is affected according to the Proxemics theory, properly adapted to take into account the layout activity space of the station in which the operator is working. Knowledge regarding which task and station are being handled by the operator are assumed to be given to the robot by the factory’s computational infrastructure. To foster integration in existing robots, the system is implemented on top of the navigation system of the Robot Operating System (ROS).

Original languageEnglish
Title of host publicationSymbiotic Interaction - 6th International Workshop, Symbiotic 2017, Revised Selected Papers
EditorsBenjamin Blankertz, Anna Spagnolli, Luciano Gamberini, Giulio Jacucci, Jaap Ham
Place of PublicationCham
PublisherSpringer Verlag
Number of pages7
ISBN (Electronic)978-3-319-91593-7
ISBN (Print)978-3-319-91592-0
Publication statusPublished - 2018
Event6th International Workshop on Symbiotic Interaction, SYMBIOTIC 2017 - Eindhoven, Netherlands
Duration: 18 Dec 201719 Dec 2017

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer Verlag
Volume10727 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference6th International Workshop on Symbiotic Interaction, SYMBIOTIC 2017


  • Autonomous navigation
  • Human-aware
  • Intra-factory logistics
  • Manufacturing systems
  • Navigation


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