With the increasing presence of social robots in various environments and applications, there is an increasing need for these robots to exhibit socially-compliant behaviors. Legible motion, characterized by the ability of a robot to clearly and quickly convey intentions and goals to the individuals in its vicinity, through its motion, holds significant importance in this context. This will improve the overall user experience and acceptance of robots in human environments. In this paper, we introduce a novel approach to incorporate legibility into local motion planning for mobile robots. This can enable robots to generate legible motions in real-time and dynamic environments. To demonstrate the effectiveness of our proposed methodology, we also provide a robotic stack designed for deploying legibility-aware motion planning in a social robot, by integrating perception and localization components.

翻译：随着社交机器人在各种环境和应用中的日益普及，对这些机器人展现出符合社会规范的行为的需求也不断增加。可读运动——指机器人通过其动作清晰且快速地向周围个体传达意图与目标的能力——在此背景下具有重要价值，这将改善用户在人类环境中对机器人的整体体验和接受度。本文提出了一种新颖方法，将可读性融入移动机器人的局部运动规划中，使机器人能在实时动态环境中生成可读运动。为验证所提方法的有效性，我们还提供了一套集成了感知与定位组件的机器人堆栈，用于在社交机器人中部署具备可读性意识的运动规划。