Navigation for human-robot interaction tasks

Althaus, Philipp; Ishiguro, Hiroshi; Kanda, Takayuki; Miyashita, Takahiro; Christensen, Henrik I.

doi:10.1109/robot.2004.1308100

Cited by 115 publications

(76 citation statements)

References 21 publications

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“…Nakauchi and Simmons [3] have designed a system that stands in line, using the concept of personal space to model a line of people. Althaus et al [4] considered robot navigation for group formation and maintenance among a robot and a number of people. Yoda and Shiota [5] considered control strategies for encountering people in a corridor scenario.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Passing Distance for Social Robots

Pacchierotti

Christensen

Jensfelt

2006

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication

139

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Abstract-Casual encounters with mobile robots for nonexperts can be a challenge due to lack of an interaction model. The present work is based on the rules from proxemics which are used to design a passing strategy. In narrow corridors the lateral distance of passage is a key parameter to consider. An implemented system has been used in a small study to verify the basic parametric design for such a system. In total 10 subjects evaluated variations in proxemics for encounters with a robot in a corridor setting. The user feedback indicates that entering the intimate sphere of people is less comfortable, however a too significant avoidance is also considered unnecessary. Adequate signaling of avoidance is a behaviour that must be carefully tuned.

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Section: Introductionmentioning

confidence: 99%

Evaluation of Passing Distance for Social Robots

Pacchierotti

Christensen

Jensfelt

2006

ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication

139

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“…Although mobile robots have actually shared the human living space as early as 1997 [1], it is only around 2005 that the appropriate motion issue has surfaced and that human factors have been investigated and explicitly taken into account for motion purposes [2]. The review of the literature on this topic shows that most of the approaches proposed so far rely upon the definition of so-called social spaces, i.e.…”

Section: B Related Work and Contributionsmentioning

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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“…They proposed a model for person following behavior. In [4] the authors proposed a method for a robot to join a group of people engaged in conversation. The results of the implementation and the experiments conducted with their platform show a human-like behavior as judged by humans.…”

Section: State Of Artmentioning

confidence: 99%

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

Rios-Martinez¹,

Spalanzani²,

Laugier³

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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Navigation for human-robot interaction tasks

Cited by 115 publications

References 21 publications

Evaluation of Passing Distance for Social Robots

Evaluation of Passing Distance for Social Robots

Human-Robot Motion: An attention-based navigation approach

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

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