Safe Predictive Mobile Robot Navigation in Aware Environments

Michael Arndt, Karsten Berns


It is a common goal to improve safety and performance of mobile indoor robots by predicting the movements of people in the surroundings. In contrast to many related works which exclusively employ sensors mounted on mobile robots, this work shows a method to achieve this goal in a smart environment where external sensors are used to sense people’s positions. By using probabilistic models and filters, the evolution of the environment’s state is predicted and optimal paths with respect to safety and performance are planned. Experiments in reality and in a simulation environment show the applicability in real-world scenarios and the advantages over classical path planning approaches.


  1. Alami, R., Albu-Schaeffer, A., Bicchi, A., Bischoff, R., Chatila, R., Luca, A. D., Santis, A. D., Giralt, G., Guiochet, J., Hirzinger, G., et al. (2006). Safe and dependable physical human-robot interaction in anthropic domains: State of the art and challenges. In Proc. IROS, volume 6.
  2. Alvarez, A., Caiti, A., and Onken, R. (2004). Evolutionary path planning for autonomous underwater vehicles in a variable ocean. Oceanic Engineering, IEEE Journal of, 29(2):418-429.
  3. Amato, G., Broxvall, M., Chessa, S., Dragone, M., Gennaro, C., López, R., Maguire, L., Mcginnity, T., Micheli, A., Renteria, A., O'Hare, G. M., and Pecora, F. (2012). Robotic ubiquitous cognitive network. In Novais, P., Hallenborg, K., Tapia, D. I., and Rodríguez, J. M. C., editors, Ambient Intelligence - Software and Applications, volume 153 of Advances in Intelligent and Soft Computing, pages 191-195. Springer Berlin Heidelberg.
  4. Arndt, M. and Berns, K. (2012a). Mobile robots in smart environments: The current situation. In Levi, P., Zweigle, O., Häußermann, K., and Eckstein, B., editors, Autonomous Mobile Systems 2012, Informatik aktuell, pages 39-47. Springer Berlin Heidelberg. 10.1007/978-3-642-32217-4 5.
  5. Arndt, M. and Berns, K. (2012b). Optimized mobile indoor robot navigation through probabilistic tracking of people in a wireless sensor network. In Proceedings of the 7th German Conference on Robotics (Robotik 2012), pages 355-360, Munich, Germany. VDI Verlag, Berlin.
  6. Arndt, M. and Berns, K. (2014). Risk-reduced mobile robot path planning in smart environments. In Proceedings for the joint conference of ISR 2014 and ROBOTIK 2014, pages 582-589. VDE VERLAG GMBH.
  7. Augusto, J. C., Nakashima, H., and Aghajan, H. (2010). Ambient intelligence and smart environments: A state of the art. In Handbook of Ambient Intelligence and Smart Environments, pages 3-31. Springer.
  8. Bennewitz, M., Burgard, W., Cielniak, G., and Thrun, S. (2005). Learning motion patterns of people for compliant robot motion. The International Journal of Robotics Research, 24(1):31-48.
  9. Bruce, A. and Gordon, G. (2004). Better motion prediction for people-tracking. In Proceedings of the International Conference on Robotics and Automation (ICRA), New Orleans, USA.
  10. Coradeschi, S. and Saffiotti, A. (2006). Symbiotic robotic systems: Humans, robots, and smart environments. Intelligent Systems, IEEE, 21(3):82-84.
  11. Foka, A. F. and Trahanias, P. E. (2010). Probabilistic autonomous robot navigation in dynamic environments with human motion prediction. International Journal of Social Robotics, 2(1):79-94.
  12. Guzzi, J., Giusti, A., Gambardella, L., Theraulaz, G., and Caro, G. D. (2013). Human-friendly robot navigation in dynamic environments. In Robotics and Automation (ICRA), 2013 IEEE International Conference on, pages 423-430.
  13. Ikeda, T., Chigodo, Y., Rea, D., Zanlungo, F., Shiomi, M., and Kanda, T. (2012). Modeling and prediction of pedestrian behavior based on the sub-goal concept. In Proceedings of Robotics: Science and Systems, Sydney, Australia.
  14. Liao, L., Fox, D., Hightower, J., Kautz, H., and Schulz, D. (2003). Voronoi tracking: Location estimation using sparse and noisy sensor data. In Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on, volume 1, pages 723 - 728.
  15. Lindemann, S. R. and LaValle, S. M. (2005). Current issues in sampling-based motion planning. In Dario, P. and Chatila, R., editors, Robotics Research. The Eleventh International Symposium, volume 15 of Springer Tracts in Advanced Robotics, pages 36-54. Springer Berlin Heidelberg.
  16. Luber, M., Stork, J., Tipaldi, G., and Arras, K. (2010). People tracking with human motion predictions from social forces. In Robotics and Automation (ICRA), 2010 IEEE International Conference on, pages 464-469.
  17. Lukowicz, P., Pentland, S., and Ferscha, A. (2012). From context awareness to socially aware computing. Pervasive Computing, IEEE, 11(1):32-41.
  18. Saffiotti, A. and Broxvall, M. (2005). PEIS ecologies: Ambient intelligence meets autonomous robotics. In Proc of the Int Conf on Smart Objects and Ambient Intelligence (sOc-EUSAI), pages 275-280, Grenoble, France.
  19. Sanfeliu, A., Hagita, N., and Saffiotti, A. (2008). Network robot systems. Robotics and Autonomous Systems, 56(10):793 - 797. Network Robot Systems.
  20. Sisbot, E., Alami, R., Simeon, T., Dautenhahn, K., Walters, M., and Woods, S. (2005). Navigation in the presence of humans. In Humanoid Robots, 2005 5th IEEE-RAS International Conference on, pages 181-188.
  21. Sisbot, E., Marin-Urias, L., Alami, R., and Simeon, T. (2007). A human aware mobile robot motion planner. Robotics, IEEE Transactions on, 23(5):874-883.
  22. Wettach, J., Schmidt, D., and Berns, K. (2010). Simulating vehicle kinematics with simvis3d and newton. In 2nd International Conference on Simulation, Modeling and Programming for Autonomous Robots, Darmstadt, Germany.
  23. Wille, S., Wehn, N., Martinovic, I., Kunz, S., and Göhner, P. (2010). Amica - design and implementation of a flexible, compact and lowpower node platform. Technical report, University of Kaiserslautern. tx uniklwehn/AmICATechReport2010.pdf.

Paper Citation

in Harvard Style

Arndt M. and Berns K. (2015). Safe Predictive Mobile Robot Navigation in Aware Environments . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 15-23. DOI: 10.5220/0005509500150023

in Bibtex Style

author={Michael Arndt and Karsten Berns},
title={Safe Predictive Mobile Robot Navigation in Aware Environments},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},

in EndNote Style

JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Safe Predictive Mobile Robot Navigation in Aware Environments
SN - 978-989-758-123-6
AU - Arndt M.
AU - Berns K.
PY - 2015
SP - 15
EP - 23
DO - 10.5220/0005509500150023