Cooperative Human Aware Robot Navigation (CoHAN 2.0)
Description
CoHAN 2.0 is an enhanced version of the Cooperative Human-Aware Navigation framework, building on the foundations of the original CoHAN system [Singamaneni et al., IROS 2021]. This new iteration significantly improves the stability and robustness of the navigation pipeline in dynamic human environments. A key advancement in CoHAN 2.0 is the integration of behavior trees for context-aware mode switching, enabling more structured and scalable decision-making during navigation.
The system maintains tight integration with the ROS navigation stack and leverages the Human-Aware Timed Elastic Band (HATEB) planner for trajectory generation, while the newly introduced behavior-based layer allows the robot to seamlessly adapt between social contexts and allows easier integration of new behaviors.
In addition to behavior-based mode switching, CoHAN 2.0 incorporates reasoning about invisible humans in the environment, as introduced in [Singamaneni et al., IROS 2022]. By fusing observed human motion with static map information, the system infers the presence of humans who may be occluded or temporarily out of sensor range. This allows the planner to proactively account for hidden human activity—enhancing safety and social compliance in complex, cluttered spaces.
Files
eurocore1.mp4
Additional details
Related works
- Is documented by
- https://laas-hri.github.io/CoHAN2.0_docs/ (URL)
- Is source of
- Conference paper: 10.1109/IROS51168.2021.9636613 (DOI)
- Conference paper: 10.1109/IROS47612.2022.9982186 (DOI)
- References
- Conference paper: 10.1109/RO-MAN57019.2023.10309398 (DOI)
Software
- Repository URL
- https://github.com/LAAS-HRI/CoHAN2.0
- Programming language
- C++ , Python
- Development Status
- Active
References
- P. Teja Singamaneni, A. Favier and R. Alami, "Human-Aware Navigation Planner for Diverse Human-Robot Interaction Contexts," 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 2021, pp. 5817-5824, doi: 10.1109/IROS51168.2021.9636613. keywords: {Navigation;Human-robot interaction;Intelligent robots},
- P. T. Singamaneni, A. Favier and R. Alami, "Watch out! There may be a Human. Addressing Invisible Humans in Social Navigation," 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 11344-11351, doi: 10.1109/IROS47612.2022.9982186. keywords: {Navigation;Electric shock;Social robots;Behavioral sciences;Collision avoidance;Intelligent robots},
- P. T. Singamaneni, A. Favier and R. Alami, "Towards Benchmarking Human-Aware Social Robot Navigation: A New Perspective and Metrics," 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Busan, Korea, Republic of, 2023, pp. 914-921, doi: 10.1109/RO-MAN57019.2023.10309398. keywords: {Measurement;Navigation;Social robots;Benchmark testing;Planning;Proposals;Robots},