Publication

Robot companion: A social-force based approach with human awareness-navigation in crowded environments

Conference Article

Conference

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

Edition

2013

Pages

1688-1694

Doc link

http://dx.doi.org/10.1109/IROS.2013.6696576

File

Download the digital copy of the doc pdf document

Abstract

Robots accompanying humans is one of the core capacities every service robot deployed in urban settings should have. We present a novel robot companion approach based on the so-called Social Force Model (SFM). A new model of robot-person interaction is obtained using the SFM which is suited for our robots Tibi and Dabo. Additionally, we propose an interactive scheme for robot’s human-awareness navigation using the SFM and prediction information. Moreover, we present a new metric to evaluate the robot companion performance based on vital spaces and comfortableness criteria. Also, a multimodal human feedback is proposed to enhance the behavior of the system. The validation of the model is accomplished throughout an extensive set of simulations and real-life experiments.

Categories

intelligent robots.

Scientific reference

G. Ferrer, A. Garrell Zulueta and A. Sanfeliu. Robot companion: A social-force based approach with human awareness-navigation in crowded environments, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, Tokyo, pp. 1688-1694.