As more robots are being deployed into human environments, a human-aware navigation planner needs to handle multiple contexts that occur in indoor and outdoor environments. In this paper, we propose a tunable human-aware robot navigation planner that can handle a variety of humanrobot contexts. We present the architecture of the planner and discuss the features and some implementation details. Then we present a detailed analysis of various simulated humanrobot contexts using the proposed planner along with some quantitative results. Finally, we show the results in a real-world scenario after deploying our system on a real robot.

翻译：随着更多的机器人被部署到人类环境中,一个意识到人类的导航计划设计师需要处理室内和室外环境中发生的多种环境。在本文件中,我们提议建立一个能够处理各种人类机器人环境的具有金枪鱼特性的机器人导航计划设计师。我们介绍规划师的架构,讨论其特征和一些实施细节。然后我们利用拟议的规划师对各种模拟人类机器人环境进行详细分析,同时提出一些量化结果。最后,我们用一个真正的机器人来展示我们系统在实际机器人上部署后在现实世界情景中的结果。