论文标题
肖恩：自动导航的社会环境
SEAN: Social Environment for Autonomous Navigation
论文作者
论文摘要
社会导航研究是在各种机器人平台，场景和环境上进行的。进行导航算法之间的比较是具有挑战性的，因为构建这些系统以及社区使用的平台多样性所涉及的努力；但是，评估对于理解该领域的进步至关重要。在朝着对社会导航算法评估评估的一步中，我们提出了自主导航（Sean）的社会环境。 Sean是一个高视觉保真度，开源和可扩展的社交导航模拟平台，其中包括用于评估导航算法的工具包。我们在具有动态行人的两个环境中演示了Sean及其评估工具包，并使用了两个不同的机器人。
Social navigation research is performed on a variety of robotic platforms, scenarios, and environments. Making comparisons between navigation algorithms is challenging because of the effort involved in building these systems and the diversity of platforms used by the community; nonetheless, evaluation is critical to understanding progress in the field. In a step towards reproducible evaluation of social navigation algorithms, we propose the Social Environment for Autonomous Navigation (SEAN). SEAN is a high visual fidelity, open source, and extensible social navigation simulation platform which includes a toolkit for evaluation of navigation algorithms. We demonstrate SEAN and its evaluation toolkit in two environments with dynamic pedestrians and using two different robots.
