Dynamic Proxemia Modeling Formal Framework for Social Navigation and Interaction

In this work, we address the problem of mobile robot social navigation in crowded environment. As a formal framework, we propose a new approach based on the proxemia principal. Since all previous works considered only static case, independently from the activity nature, the modality of interaction, the support of communication (phone, ...) and the spatial organisation of the group persons with which we interact. In this paper, we propose a formal framework of the “Dynamic Proxemia modeling approach” (DPMA) to produce a heat map of social navigation and interaction for a group of people. We validate it by experiments using ROS on simulation and on a Pionner robot in a mediation event example, which shows promising results.