Follow-Bench：社会的配慮を伴うロボット追従のための統合動作計画ベンチマーク
Follow-Bench: A Unified Motion Planning Benchmark for Socially-Aware Robot Person Following
ロボットが人を追従する際の安全性と快適性を評価するため、多様なシナリオを再現する統一ベンチマークFollow-Benchを提案し、代表的な8手法を再実装して比較した。
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1. どんなもの？
2. 先行研究と比べてどこがすごい？
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著者: Hanjing Ye, Weixi Situ, Jianwei Peng, Yu Zhan, Bingyi Xia, Kuanqi Cai, Hong Zhang
分類: cs.RO
原文アブストラクト
Robot person following (RPF) -- mobile robots that follow and assist a specific person -- has emerging applications in personal assistance, security patrols, eldercare, and logistics. To be effective, such robots must follow the target while ensuring safety and comfort for both the target and surrounding people. In this work, we present the first comprehensive study of RPF, which (i) surveys representative scenarios, motion-planning methods, and evaluation metrics with a focus on safety and comfort; (ii) introduces Follow-Bench, a unified benchmark simulating diverse scenarios, including various target trajectory patterns, crowd dynamics, and environmental layouts; and (iii) re-implements eight representative RPF planners, ensuring that both safety and comfort are systematically considered. Moreover, we evaluate the two best-performing planners from our benchmark on a differential-drive robot to provide insights into real-world deployment of RPF planners. Extensive simulation and real-world experiments provide quantitative study of the safety-comfort trade-offs of existing planners, while revealing open challenges and future research directions.
