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
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, Japan, pp. 1688-1694.
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