Survey of maps of dynamics for mobile robots

Piotr Kucner, Tomasz, Magnusson, Martin, Mghames, Sariah , Palmieri, Luigi, Verdoja, Francesco, Srinivas Swaminathan, Chittaranjan, Krajník, Tomáš, Schaffernicht, Erik, Bellotto, Nicola, Hanheide, Marc and J Lilienthal, Achim (2023) Survey of maps of dynamics for mobile robots. The International Journal of Robotics Research (IJRR) . ISSN 0278-3649

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Survey of maps of dynamics for mobile robots
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Robotic mapping provides spatial information for autonomous agents. Depending on the tasks they seek to enable, the maps created range from simple 2D representations of the environment geometry to complex, multilayered semantic maps. This survey article is about maps of dynamics (MoDs), which store semantic information about typical motion patterns in a given environment. Some MoDs use trajectories as input, and some can be built from short, disconnected observations of motion. Robots can use MoDs, for example, for global motion planning, improved localization, or human motion prediction. Accounting for the increasing importance of maps of dynamics, we present a comprehensive survey that organizes the knowledge accumulated in the field and identifies promising directions for future work. Specifically, we introduce field-specific vocabulary, summarize existing work according to a novel taxonomy, and describe possible applications and open research problems. We conclude that the field is mature enough, and we expect that maps of dynamics will be increasingly used to improve robot performance in real-world use cases. At the same time, the field is still in a phase of rapid development where novel contributions could significantly impact this research area.

Keywords:maps of dynamics, mapping, localization and mapping, acceptability and trust, human–robot interaction, human-aware motion planning
Subjects:H Engineering > H240 Surveying Science
G Mathematical and Computer Sciences > G700 Artificial Intelligence
H Engineering > H671 Robotics
G Mathematical and Computer Sciences > G761 Automated Reasoning
Divisions:College of Science > School of Computer Science
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ID Code:55673
Deposited On:04 Aug 2023 13:33

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