The hateb_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It implements a human-robot cooperative navigation planner that predicts trajectories for human and plans accordingly a trajectory for robot that satisfies certain kinodynamic and social constraints.

Details of the approach are discussed in

• Khambhaita H., Alami R.: Viewing Robot Navigation in Human Environment as a Cooperative Activity, Proc. of the International Symposium on Robotics, Puerto Varas, Chile, December 11-14, 2017.
• Khambhaita H., Alami R.: A Human-Robot Cooperative Navigation Planner, Proc. of the Companion of the 2017 ACM/IEEE International Conference on Human-Robot Interaction, Vienna, Austria, March 2017.
• Khambhaita H., Alami R.: Assessing the Social Criteria for Human-Robot Collaborative Navigation: A Comparison of Human-Aware Navigation Planners, Proc. of the IEEE International Symposium on Robot and Human Interactive Communication, Lisbon, Portugal, August 28 - September 1, 2017.

It uses a method called Timed Elastic Band for optimization purpose, which is discussed in

• Rösmann C., Feiten W., Wösch T., Hoffmann F. and Bertram. T.: Trajectory modification considering dynamic constraints of autonomous robots. Proc. 7th German Conference on Robotics, Germany, Munich, May 2012, pp 74–79.
• Rösmann C., Feiten W., Wösch T., Hoffmann F. and Bertram. T.: Efficient trajectory optimization using a sparse model. Proc. IEEE European Conference on Mobile Robots, Spain, Barcelona, Sept. 2013, pp. 138–143.
• Rösmann C., Hoffmann F. and Bertram. T.: Planning of Multiple Robot Trajectories in Distinctive Topologies, Proc. IEEE European Conference on Mobile Robots, UK, Lincoln, Sept. 2015.

The hateb_local_planner package is licensed under the BSD license. It depends on other ROS packages, which are listed in the package.xml. They are also BSD licensed.

Some third-party dependencies are included that are licensed under different terms:

• Eigen, MPL2 license, http://eigen.tuxfamily.org
• libg2o / g2o itself is licensed under BSD, but the enabled csparse_extension is licensed under LGPL3+, https://github.com/RainerKuemmerle/g2o. CSparse is included as part of the SuiteSparse collection, http://www.suitesparse.com.
• Boost, Boost Software License, http://www.boost.org

All packages included are distributed in the hope that they will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the licenses for more details.

Install dependencies (listed in the package.xml and CMakeLists.txt file) using rosdep:

rosdep install teb_local_planner