Follow The Robot: Modeling Coupled Human-Robot Dyads During Navigation
| Autor: | Aaron Steinfeld, Xiang Zhi Tan, Joe Connolly, Amal Nanavati |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science Markov process 02 engineering and technology Interval (mathematics) Human–robot interaction Task (project management) symbols.namesake 020901 industrial engineering & automation Human–computer interaction 0202 electrical engineering electronic engineering information engineering Trajectory symbols Robot 020201 artificial intelligence & image processing |
| Zdroj: | IROS |
| DOI: | 10.1109/iros40897.2019.8967656 |
| Popis: | Many robot applications being explored involve robots leading humans during navigation. Developing effective robots for this task requires a way for robots to understand and model a human’s following behavior. In this paper, we present results from a user study of how humans follow a guide robot in the halls of an office building. We then present a data-driven Markovian model of this following behavior, and demonstrate its generalizability across time interval and trajectory length. Finally, we integrate the model into a global planner and run a simulation experiment to investigate the benefits of coupled human-robot planning. Our results suggest that the proposed model effectively predicts how humans follow a robot, and that the coupled planner, while taking longer, leads the human significantly closer to the target position. |
| Databáze: | OpenAIRE |
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