People's V-formation and side-by-side model adapted to accompany groups of people by social robots
| Autor: | Ely Repiso, Alberto Sanfeliu, Francesco Zanlungo, Takayuki Kanda, Anais Garrell |
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| Přispěvatelé: | Universitat Politècnica de Catalunya. Doctorat en Automàtica, Robòtica i Visió, Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Social robot Human-robot collaboration Computer science 1. No poverty 02 engineering and technology Pedestrian Human-robot Interaction 01 natural sciences Human–robot interaction V formation Human-robot group companion Social group Automation::Robots [Classificació INSPEC] 020901 industrial engineering & automation V-formation group Orientation (mental) Human–computer interaction 0103 physical sciences Robot navigation Robot 010306 general physics Informàtica::Robòtica [Àrees temàtiques de la UPC] |
| Zdroj: | UPCommons. Portal del coneixement obert de la UPC Universitat Politècnica de Catalunya (UPC) Digital.CSIC. Repositorio Institucional del CSIC instname IROS |
| Popis: | Trabajo presentado en el IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), celebrado en Macao (China), del 3 al 8 de noviembre de 2019 This paper presents a new method to allow robots to accompany a person or a group of people imitating pedestrians behavior. Two-people groups usually walk in a side-by-side formation and three-people groups walk in a V-formation so that they can see each other. For this reason, the proposed method combines a Side-by-side and V-formation pedestrian model with the Anticipative Kinodynamic Planner (AKP). Combining these methods, the robot is able to do an anticipatory accompaniment of groups of humans, as well as to avoid static and dynamic obstacles in advance, while keeping the prescribed formations. The proposed framework allows also a dynamical re-positioning of the robot, if the physical position of the partners change in the group formation. Furthermore, people have a randomness factor that the robot has to manage, for that reason, the system was adapted to deal with changes in people's velocity, orientation and occlusions. Finally, the method has been validated using synthetic experiments and real-life experiments with our Tibi robot. In addition, a user study has been realized to reveal the social acceptability of the method. |
| Databáze: | OpenAIRE |
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