Publication

Discrete time motion model for guiding people in urban areas using multiple robots

Conference Article

Conference

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Edition

2009

Pages

486-491

Doc link

http://dx.doi.org/10.1109/IROS.2009.5354740

File

Download the digital copy of the doc pdf document

Abstract

We present a new model for people guidance in urban settings using several mobile robots, that overcomes the limitations of existing approaches, which are either tailored to tightly bounded environments, or based on unrealistic human behaviors. Although the robots motion is controlled by means of a standard particle filter formulation, the novelty of our approach resides in how the environment and human and robot motions are modeled. In particular we define a “Discrete-Time-Motion” model, which from one side represents the environment by means of a potential field, that makes it appropriate to deal with open areas, and on the other hand the motion models for people and robots respond to realistic situations, and for instance human behaviors such as “leaving the group” are considered.

Categories

automation.

Author keywords

social robotics, human robot interaction, cooperative robotics

Scientific reference

A. Garrell Zulueta, A. Sanfeliu and F. Moreno-Noguer. Discrete time motion model for guiding people in urban areas using multiple robots, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, Saint Louis, pp. 486-491.