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The evaluation of robot capabilities to navigate human crowds is essential toconceive new robots intended to operate in public spaces. This paper initiatesthe development of a benchmark tool to evaluate such capabilities; our longterm vision is to provide the community with a simulation tool that generatesvirtual crowded environment to test robots, to establish standard scenarios andmetrics to evaluate navigation techniques in terms of safety and efficiency,and thus, to install new methods to benchmarking robots' crowd navigationcapabilities. This paper presents the architecture of the simulation tools,introduces first scenarios and evaluation metrics, as well as early results todemonstrate that our solution is relevant to be used as a benchmark tool.

Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd