F-formation based navigation planner for a mobile servant robot

Abstract

In this paper, we propose a robotic delivery service in a situation of reception party. For the purpose, we first try to select the goal points to which the mobile servant robot should be positioned according to the social interaction of the recognized group. And we derive a collision-free route which the robot may not disturb people's conversation while moving along with. Finally, we verify the effectiveness of our proposed algorithm with simulation results.