Current approaches in human-aware or social robot navigation address the humans that are visible to the robot. However, it is also important to address the possible emergences of humans to avoid shocks or surprises to humans and erratic behavior of the robot planner. In this paper, we propose a novel approach to detect and address these human emergences called `invisible humans'. We determine the places from which a human, currently not visible to the robot, can appear suddenly and then adapt the path and speed of the robot with the anticipation of potential collisions. This is done while still considering and adapting humans present in the robot's field of view. We also show how this detection can be exploited to identify and address the doorways or narrow passages. Finally, the effectiveness of the proposed methodology is shown through several simulated and real-world experiments.
翻译：目前人类认知或社会机器人导航中的方法针对机器人可见的人类。 但是,同样重要的是,要解决人类可能出现的出现,以避免人类受到冲击或惊吓,以及机器人规划师的不规则行为。在本文中,我们提出一种新的方法来探测和处理这些人类出现的被称为“看不见的人类”的人类。我们确定人类从哪些地方突然出现,然后根据潜在碰撞的预期来调整机器人的路径和速度。这是在考虑和改造机器人视野中存在的人类的同时完成的。我们还展示了如何利用这种探测来识别和处理门道或狭窄通道。最后,通过若干模拟和现实世界的实验,表明了拟议方法的有效性。
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