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Published at November 29

SANGO: Socially Aware Navigation through Grouped Obstacles

cs.RO

cs.LG

Released Date: November 29, 2024

Authors: Rahath Malladi, Amol Harsh, Arshia Sangwan, Sunita Chauhan, Sandeep Manjanna

Arxiv: http://arxiv.org/pdf/2411.19497v1

Refer to caption

Metric (units)	Environment 1		Environment 2		Environment 3
	Without	With (SANGO)	Without	With (SANGO)	Without	With (SANGO)
Average Discomfort Score	$0.895$	$0.292$	$1.779$	$0.3129$	$1.994$	$0.3282$
Average Group intrusion Rate (%)	$-$	$0.04822$	$-$	$0.03387$	$-$	$0.0535$
Average Minimum time to Collision (s)	$17.93238$	$21.02462$	$16.01446$	$19.73831$	$13.78113$	$17.61131$
Average Collision Rate (%)	$5.399$	$4.995$	$7.233$	$5.889$	$10.242$	$7.233$
Average Dynamic Obstacle Collision Rate (%)	$0.61323$	$0.0337$	$0.22845$	$0.05579$	$0.29772$	$0.04515$
Average Wall & Obstacle Collision Rate (%)	$5.383$	$4.961$	$7.862$	$5.933$	$9.944$	$7.188$
Average Timeout	$0.2$	$0.19$	$0.35$	$0.28$	$0.43$	$0.23$
Average Stalled Time (s)	$0.3621$	$0.3858$	$0.4382$	$0.2250$	$0.5479$	$0.3177$
Average Human Distance (m)	$12.654$	$11.833$	$9.076$	$13.637$	$7.871$	$13.707$
Success Rate (%)	$80$	$81$	$65$	$72$	$57$	$77$