Natural person-following behavior for social robots

Gockley, Rachel; Forlizzi, Jodi; Simmons, Reid

doi:10.1145/1228716.1228720

Cited by 224 publications

(131 citation statements)

References 19 publications

(19 reference statements)

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“…The approach was also combined with a person following navigation algorithm, combining both the tracked person's position as well as the location of nearby obstacles to determine suitable control. Gockley et al [26] used a similar approach, with a few modifications, including using a Brownian motion model for the tracking component. This approach was further extended by Hemachandra [31], which improved the person-following component by proposing a navigation approach that accounts for personal space, while avoiding obstacles.…”

Section: Using Only Laser Scannersmentioning

confidence: 99%

Person tracking and following with 2D laser scanners

Leigh

Pineau

Olmedo

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

158

127

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ACKNOWLEDGEMENTSThis thesis would not have been possible without the help of a great many people who provided me with inspiration, direction and encouragement.Foremost, I would like to thank my supervisor, Joelle Pineau. You've been the ideal mixture of supportive, easy-going and motivating during my master's. You were at once hands-off, letting me pursue the research ideas I was most interested in, and engaged, constantly providing me with valuable feedback on whatever we were working on. You listened to my ideas from day one so I would grow and learn to think for myself rather than follow orders. You were patient when research went slow and were quick to offer praise when things went well. I could not have asked for more from a supervisor. In this thesis we propose a new algorithm for robust detection, tracking and following from laser scanners mounted at leg height. We develop a set of quantitative benchmarks based on the CLEAR MOT metrics which demonstrate that the approach is more effective than currently available alternatives in a variety of environments, both indoor and outdoor, and on different robot platforms (the intelligent power wheelchair and a Clearpath Husky). To the best of our knowledge, these are the first benchmarks which evaluate person tracking performance from a mobile robot with laser scanners at leg height. We further integrate our novel person tracking system with a person following control system to demonstrate its usefulness in this application. The method has been implemented in the Robot Operating System (ROS) framework and will be publicly released as a ROS package. Dans cette thèse nous proposons un nouvel algorithme pour la détection, la localisation et le suivià partir de capteurs lasers situésà hauteur de la jambe.Nous développons un ensemble de mesures de référence quantitatives basées sur les métriques CLEAR MOT, qui démontrent que notre approche est plus efficace que les alternatives actuelles, ce dans une variété d'environnements,à la fois intérieurs et extérieurs, et sur différentes plateformes de robots (le fauteuil roulantélectrique intelligent et un Clearpath Husky). Au mieux de notre connaissance, nous sommes les premiersàévaluer la performance du suivi de personnes depuis un robot mobilé equipé de capteurs lasersà hauteur de la jambe. De plus, pour en démontrer l'utilité, nous intégrons notre nouveau système de localisation de personnes avec un système de contrôle automatique permettant au robot de se déplacer en suivant une personne.

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Section: Using Only Laser Scannersmentioning

confidence: 99%

Person tracking and following with 2D laser scanners

Leigh

Pineau

Olmedo

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

158

127

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“…Aggarwal et al [14] provide an overview of interpreting and tracking human motions using cameras. Gockley et al [15] make use of a laser based approach to implement natural person following behaviours in their social robots. Valls Miro et al compared laser and camera information for estimating indoor the human relative localisation for tracking tasks [4].…”

Section: Related Workmentioning

confidence: 99%

Real-time sound source localisation for target tracking applications using an asynchronous microphone array

Miró

Vidal-Calleja

2015

2015 IEEE 10th Conference on Industrial Electronics and Applications (ICIEA)

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Abstract-This paper presents a strategy for sound source localisation using an asynchronous microphone array. The proposed method is suitable for target tracking applications, in which the sound source with a known frequency is attached to the target. Conventional microphone array technologies require a multichannel A/D converter for inter-microphone synchronization making the technology relatively expensive. In this work, the requirement of synchronization between channels is relaxed by adding an external reference audio signal. The only assumption is that the frequencies of the reference signal and the sound source attached to the target are fixed and known beforehand. By exploiting the information provided by the known reference signal, the Direction Of Arrival (DOA) of target sound source can be calculated in real-time. The key idea of the algorithm is to use the reference source to "pseudo-align" the audio signals from different channels. Once the channels are "pseudoaligned", a dedicated DOA estimation method based on Time Difference Of Arrival (TDOA) can be employed to find the relative bearing information between the target sound source and microphone array. Due to the narrow band of frequency of target sound source, the proposed approach is proven to be robust to low signals-to-noise ratios. Comprehensive simulations and experimental results are presented to show the validity of the algorithm.

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“…In [3] it is argued that moving in easily understood and predictable ways will both improve people's trusting and comfort with the robot as well as will help to insure the safety of people moving near the robot. They proposed a model for person following behavior.…”

Section: State Of Artmentioning

confidence: 99%

Understanding human interaction for probabilistic autonomous navigation using Risk-RRT approach

Ríos-Martínez

Spalanzani

Laugier

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-With the growing demand of personal assistance to mobility and mobile service robotics, robot navigation systems must be "aware" of the social conventions followed by people. They must respect proximity constraints but also respect people interacting. For example, they may not break interaction between people talking, unless the occupants want to take part in the conversation. In this case, they must be able to join the group using a socially adapted behavior. This paper proposes a risk-based navigation method including both the traditional notion of risk of collision and the notion of risk of disturbance. Results exhibit new emerging behavior showing how a robot takes into account social conventions in its navigation strategy.

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Natural person-following behavior for social robots

Cited by 224 publications

References 19 publications

Person tracking and following with 2D laser scanners

Person tracking and following with 2D laser scanners

Real-time sound source localisation for target tracking applications using an asynchronous microphone array

Understanding human interaction for probabilistic autonomous navigation using Risk-RRT approach

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