An anthropomorphic navigation scheme for dynamic scenarios

Scandolo, Leonardo; Fraichard, Thierry

doi:10.1109/icra.2011.5979772

Cited by 50 publications

(40 citation statements)

References 14 publications

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“…Then, although this paper has focused on attention only, we plan to combine attention with social space concepts (in particular our earlier work on social space-based navigation in dynamic environments [10]). Finally, real life experiments on a real robot will be carried out and used to validate the interest of using attention to address HRM.…”

Section: Discussionmentioning

confidence: 99%

Human-Robot Motion: An attention-based navigation approach

Fraichard

Paulin

Reignier

2014

The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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Abstract-Mobile robot companions are service robots that are mobile and designed to share our living space. For such robots, mobility is essential and their coexistence with humans adds new aspects to the mobility issue: the first one is to obtain appropriate motion and the second one is interaction through motion. We encapsulate these two aspects in the term Human-Robot Motion (HRM) with reference to Human-Robot Interaction. The long-term issue is to design robot companions whose motions, while remaining safe, are deemed appropriate from a human point of view. This is the key to the acceptance of such systems in our daily lives. The primary purpose of this paper is to explore how the psychological concept of attention can be taken into account in HRM. To that end, we build upon an existing model of attention that computes an attention matrix that describes how the attention of each person is distributed among the different elements, persons and objects, of his/her environment. Using the attention matrix, we propose the novel concept of attention field that can be viewed as an attention predictor. Using different case studies, we show how the attention matrix and the attention field can be used in HRM.

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Section: Discussionmentioning

confidence: 99%

Human-Robot Motion: An attention-based navigation approach

Fraichard

Paulin

Reignier

2014

The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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“…Research in the area of socially-aware navigation and manipulation is typically taking a modelbased approach, either with manually designed models or models from social psychology and cognitive science [13,16,14,9,12,17]. Although this appears to be a compelling approach, the use of such models in robotics is potentially problematic due to an inherent methodological gap: the experimental method of these fields isolates and studies an aspect of interest under controlled conditions.…”

Section: Introductionmentioning

confidence: 99%

Socially-aware robot navigation: A learning approach

Luber

Spinello

Silva

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

154

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Abstract-The ability to act in a socially-aware way is a key skill for robots that share a space with humans. In this paper we address the problem of socially-aware navigation among people that meets objective criteria such as travel time or path length as well as subjective criteria such as social comfort. Opposed to modelbased approaches typically taken in related work, we pose the problem as an unsupervised learning problem. We learn a set of dynamic motion prototypes from observations of relative motion behavior of humans found in publicly available surveillance data sets. The learned motion prototypes are then used to compute dynamic cost maps for path planning using an any-angle A* algorithm. In the evaluation we demonstrate that the learned behaviors are better in reproducing human relative motion in both criteria than a Proxemics-based baseline method.

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“…Prior work has examined the effects of manipulating robot path planning, often using proxemics-based cost functions that prioritize paths respecting human spatial boundaries, on the physiological and subjective responses of colocated humans [18,20,23,27,28,36]. Further research distinguishes robot motions that are legible, allowing users to correctly infer the robot's goal, and motions that are predictable, matching the expectations of an observer who knew the goal a priori [5,26].…”

Section: Robot Motion and Intentmentioning

confidence: 99%

Communication of intent in assistive free flyers

Szafir

Mutlu

Fong

2014

Proceedings of the 2014 ACM/IEEE International Conference on Human-Robot Interaction

135

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Assistive free-flyers (AFFs) are an emerging robotic platform with unparalleled flight capabilities that appear uniquely suited to exploration, surveillance, inspection, and telepresence tasks. However, unconstrained aerial movements may make it difficult for colocated operators, collaborators, and observers to understand AFF intentions, potentially leading to difficulties understanding whether operator instructions are being executed properly or to safety concerns if future AFF motions are unknown or difficult to predict. To increase AFF usability when working in close proximity to users, we explore the design of natural and intuitive flight motions that may improve AFF abilities to communicate intent while simultaneously accomplishing task goals. We propose a formalism for representing AFF flight paths as a series of motion primitives and present two studies examining the effects of modifying the trajectories and velocities of these flight primitives based on natural motion principles. Our first study found that modified flight motions might allow AFFs to more effectively communicate intent and, in our second study, participants preferred interacting with an AFF that used a manipulated flight path, rated modified flight motions as more natural, and felt safer around an AFF with modified motion. Our proposed formalism and findings highlight the importance of robot motion in achieving effective human-robot interactions.

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An anthropomorphic navigation scheme for dynamic scenarios

Cited by 50 publications

References 14 publications

Human-Robot Motion: An attention-based navigation approach

Human-Robot Motion: An attention-based navigation approach

Socially-aware robot navigation: A learning approach

Communication of intent in assistive free flyers

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