{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/111698"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/111698","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Robot designed for socially acceptable navigation","abstract":"Autonomous (self-driving) vehicles are increasingly being tested on highways and city streets. But there is also a need for robots that can navigate through environments like sidewalks, buildings, and hallways. In these situations, the robots must interact and cooperate with pedestrians in a socially acceptable manner. The \"rules of the road\" no longer apply -- there are no lanes or street signs, and pedestrians don't use turn signals when cutting through crowds. This thesis describes the hardware and software architecture of a robot that was developed for this application. 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Finally, this thesis presents a novel collision avoidance method that extends the Reciprocal Velocity Obstacle (RVO) framework to consider the impact of planning decisions on future world states.","abstract_has_math":false,"creators":["Everett, Michael F"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Department of Mechanical Engineering.","school":null,"contributors":[],"advisors":["Jonathan P. How."],"committee_chairs":[],"committee_members":[],"year":2017,"date_issued":"2017","date_published":"2017","updated_at":"2026-07-22T22:21:07Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["MIT theses are protected by copyright. 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