Facing human activity-aware navigation with a cognitive architecture raises several difficulties integrating the components and orchestrating behaviors and skills to perform social tasks. In a real-world scenario, the navigation system should not only consider individuals like obstacles. It is necessary to offer particular and dynamic people representation to enhance the HRI experience. The robot's behaviors must be modified by humans, directly or indirectly. In this paper, we integrate our human representation framework in a cognitive architecture to allow that people who interact with the robot could modify its behavior, not only with the interaction but also with their culture or the social context. The human representation framework represents and distributes the proxemic zones' information in a standard way, through a cost map. We have evaluated the influence of the decision-making system in human-aware navigation and how a local planner may be decisive in this navigation. The material developed during this research can be found in a public repository (https://github.com/IntelligentRoboticsLabs/social_navigation2_WAF) and instructions to facilitate the reproducibility of the results.
Keywords: Cognitive architecture; Human-aware navigation; Proxemic; Social navigation; Social robot.
© The Author(s) 2021.