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Table of contents
Abstract
Acknowledgment and Dedications
Table of Contents
List of Figures
List of Tables
1 Introduction
1.1 Motivation
1.2 Summary of Contributions
1.3 Outline of the Dissertation
2 Related Works
2.1 Identification of Groups of People
2.1.1 Static Groups
2.1.2 Dynamic Groups
2.2 Social Navigation
2.2.1 Navigating within Humans and Motion Planners
2.2.2 Approaching Humans
2.3 Conclusions
3 Approaching One Person
3.1 Modeling Steps
3.1.1 MDP and IRL
3.1.2 State
3.1.3 Actions and Transitions
3.1.4 Feature Representation
3.2 Adapting IRL Results
3.2.1 Naive Global Planner
3.2.2 Layered Costmap Navigation
3.3 Experimental Results
3.3.1 Experimental Setup
3.3.2 Metrics
3.3.3 Results
3.4 Conclusions
4 Analysis of Groups of People
4.1 Proposed algorithms for group detection
4.1.1 Link Method
4.1.2 Interpersonal Synchrony Method
4.2 Experimental Evaluation
4.2.1 Data sets
4.2.2 Results
4.3 Conclusions
5 Approaching Groups of People
5.1 Environment and Demonstration
5.2 Graph Representation
5.2.1 Computation of Vertices
5.2.2 Computation of Edges
5.3 Generalization of States and Rewards
5.3.1 Social Features
5.3.2 Non-social Features
5.4 Exploitation
5.5 Results
5.6 Conclusions
6 Conclusions and Outlook
6.1 Conclusions
6.1.1 Main contributions
6.2 Outlook
Bibliography
