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@Article{reuth_hri2024,
  author   = {Reuth Mirsky and Xuesu Xiao and Justin Hart and Peter Stone},
  title    = {Conflict Avoidance in Social Navigation --- a Survey},
  journal = {ACM Transactions on Human-Robot Interaction},
  year     = {2024},
  abstract = {A major goal in robotics is to enable intelligent mobile robots to operate
smoothly in shared human-robot environments. One of the most fundamental
capabilities in service of this goal is competent navigation in this “social”
context. As a result, there has been a recent surge of research on social
navigation; and especially as it relates to the handling of conflicts between
agents during social navigation. These developments introduce a variety of models
and algorithms, however as this research area is inherently interdisciplinary,
many of the relevant papers are not comparable and there is no shared standard
vocabulary. This survey aims at bridging this gap by introducing such a common
language, using it to survey existing work, and highlighting open problems. It
starts by defining the boundaries of this survey to a limited, yet highly common
type of social navigation—conflict avoidance. Within this proposed scope, this
survey introduces a detailed taxonomy of the conflict avoidance components. This
survey then maps existing work into this taxonomy, while discussing papers using
its framing. Finally, this article proposes some future research directions and
open problems that are currently on the frontier of social navigation to aid
ongoing and future research.
  },
}