Communicating Directional Intent in Robot Navigation using Projection Indicators

Shrestha, Moondeep C.; Onishi, Tomoya; Kobayashi, Ayano; Kamezaki, Mitsuhiro; Sugano, Shigeki

doi:10.1109/roman.2018.8525528

Cited by 31 publications

(9 citation statements)

References 18 publications

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“…Shrestha et al [106,107] compared the display and projection of an arrow with the direction indicator lamps to inform the directional intention of a mobile robot. They reported that the projection of an arrow was evaluated as user-friendly and intuitive.…”

Section: Transmission Of Movement Intention By An Arrowmentioning

confidence: 99%

Methods of Generating Emotional Movements and Methods of Transmitting Behavioral Intentions: A Perspective on Human-Coexistence Robots

Matsumaru

2022

Sensors

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The purpose of this paper is to introduce and discuss the following two functions that are considered to be important in human-coexistence robots and human-symbiotic robots: the method of generating emotional movements, and the method of transmitting behavioral intentions. The generation of emotional movements is to design the bodily movements of robots so that humans can feel specific emotions. Specifically, the application of Laban movement analysis, the development from the circumplex model of affect, and the imitation of human movements are discussed. However, a general technique has not yet been established to modify any robot movement so that it contains a specific emotion. The transmission of behavioral intentions is about allowing the surrounding humans to understand the behavioral intentions of robots. Specifically, informative motions in arm manipulation and the transmission of the movement intentions of robots are discussed. In the former, the target position in the reaching motion, the physical characteristics in the handover motion, and the landing distance in the throwing motion are examined, but there are still few research cases. In the latter, no groundbreaking method has been proposed that is fundamentally different from earlier studies. Further research and development are expected in the near future.

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Section: Transmission Of Movement Intention By An Arrowmentioning

confidence: 99%

Methods of Generating Emotional Movements and Methods of Transmitting Behavioral Intentions: A Perspective on Human-Coexistence Robots

Matsumaru

2022

Sensors

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“…(3) sensor rotation [31]; (4) arrow signaling [117] techniques that can be implemented from farther away which inform the local navigation process, such as a trajectory change. There are, however, some papers that we categorize as resolution even though they involve only (1) or (2) from above.…”

Section: Taxonomy Attributes and Valuesmentioning

confidence: 99%

“…Their study shows that the use of these signals increases participants' willingness to aid the robot. Shrestha et al [117] augment their robot with projection indicators to signal the robot's intented path. Szafir et al [130] equip quad-rotor drones with LEDs mounted in a ring at the base, providing four different signal designs along this strip.…”

Section: Conveying the Robot's Goal To The Humanmentioning

confidence: 99%

“…They found that their LEDs improve participants' ability to quickly infer the intended motion of the drone. Shrestha et al [118] perform a study in which a robot crosses a humans' path, indicating its intended path with an arrow projected onto the floor. They demonstrate their method to be effective in expressing the robot's intended trajectory.…”

Section: Conveying the Robot's Goal To The Humanmentioning

confidence: 99%

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Prevention and Resolution of Conflicts in Social Navigation -- a Survey

Mirsky¹,

Xiao²,

Hart³

et al. 2021

Preprint

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With the approaching goal of having robots collaborate in shared human-robot environments, navigation in this context becomes both crucial and desirable. Recent developments in robotics have encountered and tackled some of the challenges of navigating in mixed humanrobot environments, and in recent years we observe a surge of related work that specifically targets the question of how to handle conflicts between agents in social navigation. These contributions offer models, algorithms, and evaluation metrics, however as this research area is inherently interdisciplinary, many of the relevant papers are not comparable and there is no standard vocabulary between the researchers. The main goal of this survey is to bridge this gap by proposing such a common language, using it to survey existing work, and highlighting open problems. It starts by defining a conflict in social navigation, and offers a detailed taxonomy of its components. This survey then maps existing work while discussing papers using the framing of the proposed taxonomy. Finally, this paper propose some future directions and problems that are currently in the frontier of social navigation to help focus research efforts.

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“…Recently, projection methods and AR have been studied to provide user a visualization robot intent. Shrestha [22] found that projection of robot motion intent, shown by arrows, is favorable compared to no indication, increasing understanding of robot motion intent and user comfort . Hetherington found that using a projector to display both immediate and future paths is more effective than using flashing lights similar to the methods studied in [7], [19].…”

Section: Visualizing Robot Intent Through Projection and Armentioning

confidence: 99%

Seeing Thru Walls: Visualizing Mobile Robots in Augmented Reality

Gu,

Cosgun,

Chan

et al. 2021

Preprint

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We present an approach for visualizing mobile robots through an Augmented Reality headset when there is no line-of-sight visibility between the robot and the human. Three elements are visualized in Augmented Reality: 1) Robot's 3D model to indicate its position, 2) An arrow emanating from the robot to indicate its planned movement direction, and 3) A 2D grid to represent the ground plane. We conduct a user study with 18 participants, in which each participant are asked to retrieve objects, one at a time, from stations at the two sides of a T-junction at the end of a hallway where a mobile robot is roaming. The results show that visualizations improved the perceived safety and efficiency of the task and led to participants being more comfortable with the robot within their personal spaces. Furthermore, visualizing the motion intent in addition to the robot model was found to be more effective than visualizing the robot model alone. The proposed system can improve the safety of automated warehouses by increasing the visibility and predictability of robots.

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Communicating Directional Intent in Robot Navigation using Projection Indicators

Cited by 31 publications

References 18 publications

Methods of Generating Emotional Movements and Methods of Transmitting Behavioral Intentions: A Perspective on Human-Coexistence Robots

Methods of Generating Emotional Movements and Methods of Transmitting Behavioral Intentions: A Perspective on Human-Coexistence Robots

Prevention and Resolution of Conflicts in Social Navigation -- a Survey

Seeing Thru Walls: Visualizing Mobile Robots in Augmented Reality

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