Robotics: Science and Systems XX

Demonstrating Arena 3.0: Advancing Social Navigation in Collaborative and Highly Dynamic Environments

Linh Kästner, Volodymyir Shcherbyna, Huajian Zeng, Tuan Anh Le, Maximilian Ho-Kyung Schreff, Halid Osmaev, Nam Truong Tran, Diego Diaz, Jan Golebiowski, Harold Soh, Jens Lambrecht

Abstract:

Building upon our previous contributions, this paper introduces Arena 3.0, an extension of Arena-Bench, Arena 1.0, and Arena 2.0 focusing on the development, simulation, and benchmarking of social navigation approaches in collaborative environments. We significantly enhance the realism of human behavior simulation by incorporating a diverse array of new social force models and interaction patterns, encompassing both human-human and human-robot dynamics. The platform provides a comprehensive set of new task modes, designed for extensive benchmarking and testing and is capable of generating realistic and human-centric environments dynamically, catering to a broad spectrum of social navigation scenarios. In addition, the platform’s functionalities have been abstracted across three widely used simulators, each tailored for specific training and testing purposes. The platform’s efficacy has been validated through an extensive benchmark and user evaluations of the platform by a global community of researchers and students, which noted the substantial improvement compared to previous versions and expressed interests to utilize the platform for future research and development. Arena 3.0 is openly available at https://github.com/Arena-Rosnav.

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Bibtex:

  
@INPROCEEDINGS{Kästner-RSS-24, 
    AUTHOR    = {Linh Kästner AND Volodymyir Shcherbyna AND Huajian Zeng AND Tuan Anh Le AND Maximilian Ho-Kyung Schreff AND Halid Osmaev AND Nam Truong Tran AND Diego Diaz AND Jan Golebiowski AND Harold Soh AND Jens Lambrecht}, 
    TITLE     = {{Demonstrating Arena 3.0: Advancing Social Navigation in Collaborative and Highly Dynamic Environments}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2024}, 
    ADDRESS   = {Delft, Netherlands}, 
    MONTH     = {July}, 
    DOI       = {10.15607/RSS.2024.XX.074} 
}