Human Aware Navigation for Assistive Robotics

Vasquez, Dizan; Stein, Procópio; Ríos-Martínez, Jorge; Escobedo, Arturo; Spalanzani, Anne; Laugier, Christian

doi:10.1007/978-3-319-00065-7_31

Cited by 22 publications

(21 citation statements)

References 11 publications

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“…It determines the current position and heading direction of all targets on the ground plane (used to define a personal space for each target). Many researchers agree on an asymmetric personal space which provides more room up front as people in general are more strict regarding their frontal space [5]. Inspired by this we use the strict personal space made up of two half ellipses as shown in Fig.…”

Section: A Passers-by Detection and Trackingmentioning

confidence: 99%

Improving robot reactivity to passers-by with a faster people detector

Mekonnen

Lerasle

Herbulot

2016

2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI)

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Perceptual systems deployed in embedded intelligent systems are handicapped with limited computation resources. As a result, they require explicit computation time consideration during design time. In this paper, we investigate the impact a visual person detector explicitly optimized to minimize computational time has on an exemplar robotic application -navigation in human shared environments. The experimental results attest the improved perceptual frame rate leads to significant improvements in vision system performance and robotic mission success rate.

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Section: A Passers-by Detection and Trackingmentioning

confidence: 99%

Improving robot reactivity to passers-by with a faster people detector

Mekonnen

Lerasle

Herbulot

2016

2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI)

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“…It is common in the literature of humanaware navigation that detection and tracking of the people is performed or jointly performed by an external tracking system [22].…”

Section: B Human Trackingmentioning

confidence: 99%

“…To our knowledge, this is the first work in which both human-robot and robothuman awareness are implemented on-board on a resourceconstrained robot without the need of external devices such as external cameras, special trackers, etc. In the literature, we can find several strategies for comfort ranging from appropriate approaching strategy [4], maintaining appropriate distance [5], control strategies to avoid being noisy [6] and use of planning for avoiding interference [7]. Additionally, several approaches to generate legibility for robot navigation, have been reported in [8].…”

Section: Introductionmentioning

confidence: 99%

On-board human-aware navigation for indoor resource-constrained robots: A case-study with the ranger

Talebpour¹,

Navarro²,

Martinoli³

2015

2015 IEEE/SICE International Symposium on System Integration (SII)

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Abstract-Introducing simple robotic platforms into domestic environments is faced with the challenge of social acceptability. Therefore human-aware navigation is a must for robots operating in environments shared with human users. In this work, we focus on the human-aware navigation problem in a structured environment for a robot with limited sensing and constrained maneuvering called Ranger. The Ranger is a simple domestic robotic platform designed for interacting with children. The system combines person detection and tracking -which is the result of fusing laser-scan and depth-image based detectors provided by an RGB-D camera-, basic autonomous navigation and the concept of personal space. We rely only on the on-board sensors for mapping, localization, human tracking, and navigation. Systematic experiments are carried out with a real robot in the presence of a human in order to compare our human-aware navigation with a non human-aware simple approach. The results show that human-aware navigation is able to achieve trajectories which are respecting the personal spaces of the human and are thus more acceptable for the users.

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“…In the literature, we can find several strategies for comfort including appropriate approaching strategy [11], maintaining appropriate distance [4], control strategies to avoid noisiness [12], and use of planning for avoiding interference [13]. In this work, we focus on the principle of proxemics which is the most common in the literature of human-aware navigation, with social costs encoded as costmaps similar to [14] along with an FMM path planner.…”

Section: Introductionmentioning

confidence: 99%

Incorporating perception uncertainty in human-aware navigation: A comparative study

Talebpour

Viswanathan²,

Ventura

et al. 2016

2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)

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Abstract-In this work, we present a novel approach to human-aware navigation by probabilistically modelling the uncertainty of perception for a social robotic system and investigating its effect on the overall social navigation performance. The model of the social costmap around a person has been extended to consider this new uncertainty factor, which has been widely neglected despite playing an important role in situations with noisy perception. A social path planner based on the fast marching method has been augmented to account for the uncertainty in the positions of people. The effectiveness of the proposed approach has been tested in extensive experiments carried out with real robots and in simulation. Real experiments have been conducted, given noisy perception, in the presence of single/multiple, static/dynamic humans. Results show how this approach has been able to achieve trajectories that are able to keep a more appropriate social distance to the people, compared to those of the basic navigation approach, and the human-aware navigation approach which relies solely on perfect perception, when the complexity of the environment increases. Accounting for uncertainty of perception is shown to result in smoother trajectories with lower jerk that are more natural from the point of view of humans.

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Human Aware Navigation for Assistive Robotics

Cited by 22 publications

References 11 publications

Improving robot reactivity to passers-by with a faster people detector

Improving robot reactivity to passers-by with a faster people detector

On-board human-aware navigation for indoor resource-constrained robots: A case-study with the ranger

Incorporating perception uncertainty in human-aware navigation: A comparative study

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