# Assessing Human Cooperation for Enhancing Social Robot Navigation

## TL;DR

This paper explores how social robots can improve navigation by assessing human cooperation through geometric analysis and communication, addressing unpredictability in human behavior.

## Contribution

It introduces an assessment methodology and evaluation metrics for human cooperativeness, and demonstrates how geometric reasoning can guide robot communication and actions.

## Key findings

- Assessment methodology distinguishes cooperative from non-cooperative humans.
- Geometric analysis informs appropriate robot responses.
- Communication strategies improve social robot navigation.

## Abstract

Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further improved using human prediction models, where the robot takes the potential future trajectory of humans while computing its own. Though these strategies significantly improve the robot's behavior, it faces difficulties from time to time when the human behaves in an unexpected manner. This happens as the robot fails to understand human intentions and cooperativeness, and the human does not have a clear idea of what the robot is planning to do. In this paper, we aim to address this gap through effective communication at an appropriate time based on a geometric analysis of the context and human cooperativeness in head-on crossing scenarios. We provide an assessment methodology and propose some evaluation metrics that could distinguish a cooperative human from a non-cooperative one. Further, we also show how geometric reasoning can be used to generate appropriate verbal responses or robot actions.