We address the problem of path planning for
robot missions based on waypoints suggested by multiple
human users. These users may be operating under distinct
mission objectives and hence suggest different locations for the
robot to visit. We formulate this problem using a constrained
optimization approach by imposing various operational considerations,
such as the robot’s maximum traversable distance.
We then propose an approximative path planning algorithm
with parameterized control over the degree of “social fairness”
in the selection of waypoints from different users. Through
a user study, we compared the performance of the proposed
path planner under different fairness settings and for different
mission scenarios.