Show me your moves! Conveying navigation intention of a mobile robot to humans

May, Alyxander David; Dondrup, Christian; Hanheide, Marc

doi:10.1109/ecmr.2015.7324049

Cited by 42 publications

(19 citation statements)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Szafir et al [47] implemeted light-emitting diode (LED) based indicators in a quadcopter to test four different designs for intent communication. May et al [28] utilized 'implicit joint attention using gaze' and 'turn indicators' by adopting the semantics of a car's turning indicators. Watanabe et al [48] implemented a light projection system in an autonomous wheelchair that shows the future trajectory.…”

Section: Inducement For Conveying Intent In Robot Navigationmentioning

confidence: 99%

See 1 more Smart Citation

A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-By Scenario

Kamezaki

Kobayashi

Yokoyama

et al. 2019

Int J of Soc Robotics

View full text Add to dashboard Cite

Human-aware navigation is an essential requirement for autonomous robots in human-coexisting environments. The goal of conventional navigation is to find a path for a robot to pass through safely and efficiently without colliding with human. Note that if such a path cannot be found, the robot stops until a path is clear. Thus, such collision-avoidance based passive navigation does not work in a congested or narrow space. To avoid this freezing problem, the robot should induce humans to make a space for passing by an adequate inducement method, such as body movement, speech, and touch, depending on the situation. A robot that deliberately clears a path with such actions may make humans uncomfortable, so the robot should also utilize inducements to avoid causing negative feelings. In this study, we propose a fundamental framework of interactive navigation with situation-adaptive multimodal inducement. For a preliminary study, we target a passing scenario in a narrow corridor where two humans are standing and adopt a model-based approach focusing on common parameters. The suitable inducement basically varies depending on the largest space through which a robot can pass, distance between the robot and a human, and human behavior such as conversing. We thus develop a situation-adaptive inducement selector on the basis of the relationship between human-robot proximity and allowable inducement strength, considering robot efficiency and human psychology. The proposed interactive navigation system was tested across some contextual scenarios and compared with a fundamental path planner. The experimental results indicated that the proposed system solved freezing problems, provided a safe and efficient trajectory, and improved humans' psychological reaction although the evidence was limited to robot planner and hardware design we used as well as certain scenes, contexts, and participants.

show abstract

Section: Inducement For Conveying Intent In Robot Navigationmentioning

confidence: 99%

“…To solve this problem, the robot needs the ability to cooperate with humans. Considering that humans may not always notice the robot, it need to be able to convey its motion-intention via some methods, such as pointing to a path, making sounds, and interacting physically [28].…”

Section: Introductionmentioning

confidence: 99%

A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-By Scenario

Kamezaki

Kobayashi

Yokoyama

et al. 2019

Int J of Soc Robotics

View full text Add to dashboard Cite

show abstract

“…Similarly to AVs, it is crucial that mobile robots can co-exist and move safely among humans (Goodrich and Schultz, 2007). As highlighted by May et al (2015), due to humans’ special needs to feel safe and comfortable when interacting with such robots, it is often not sufficient that robots treat humans merely as dynamic objects and try avoiding them. Instead, robots and humans need to have a mutual understanding of the situation and each other’s intentions.…”

Section: Introductionmentioning

confidence: 99%

“…For example, May et al (2015) investigated effects of showing navigational intent of a mobile robot to humans by means of (a) gaze and (b) a turn indicator. They found that both approaches had a significant effect; however, the approach (b) was more effective in communicating the intent and resulted in a higher perceived comfort.…”

Section: Introductionmentioning

confidence: 99%

Communicating Intent of Automated Vehicles to Pedestrians

et al. 2018

View full text Add to dashboard Cite

While traffic signals, signs, and road markings provide explicit guidelines for those operating in and around the roadways, some decisions, such as determinations of “who will go first,” are made by implicit negotiations between road users. In such situations, pedestrians are today often dependent on cues in drivers’ behavior such as eye contact, postures, and gestures. With the introduction of more automated functions and the transfer of control from the driver to the vehicle, pedestrians cannot rely on such non-verbal cues anymore. To study how the interaction between pedestrians and automated vehicles (AVs) might look like in the future, and how this might be affected if AVs were to communicate their intent to pedestrians, we designed an external vehicle interface called automated vehicle interaction principle (AVIP) that communicates vehicles’ mode and intent to pedestrians. The interaction was explored in two experiments using a Wizard of Oz approach to simulate automated driving. The first experiment was carried out at a zebra crossing and involved nine pedestrians. While it focused mainly on assessing the usability of the interface, it also revealed initial indications related to pedestrians’ emotions and perceived safety when encountering an AV with/without the interface. The second experiment was carried out in a parking lot and involved 24 pedestrians, which enabled a more detailed assessment of pedestrians’ perceived safety when encountering an AV, both with and without the interface. For comparison purposes, these pedestrians also encountered a conventional vehicle. After a short training course, the interface was deemed easy for the pedestrians to interpret. The pedestrians stated that they felt significantly less safe when they encountered the AV without the interface, compared to the conventional vehicle and the AV with the interface. This suggests that the interface could contribute to a positive experience and improved perceived safety in pedestrian encounters with AVs – something that might be important for general acceptance of AVs. As such, this topic should be further investigated in future studies involving a larger sample and more dynamic conditions.

show abstract

“…For instance, in a learning task the participants tended to detect quicker that an error would occur and addressed it when the robot used gaze cues to signal that it had finished its turn and was ready to engage in the next step of the task [19]. Besides collaborative performance, the use of non-verbal cues like gazes, facial expressions, lights or legible motions make the robot's internal states clearer for its human partner [20,21] and can serve to communicate its knowledge about the task execution state [22,23]. For instance, the use of lights as indicators to communicate navigational intention has been shown to improve human understanding [23].…”

Section: Robotic Communication For Joint Actionmentioning

confidence: 99%

A Horizontal Approach to Communication for Human-Robot Joint Action: Towards Situated and Sustainable Robotics

Belhassein

Castro

Mayima

2020

Frontiers in Artificial Intelligence and Applications

View full text Add to dashboard Cite

This paper aims at presenting a horizontal approach to the design of communication for joint action in human-robot interaction. According to this approach, social robotics must focus on different parameters of the whole joint action including context, the embedded situation and human psychological profile during the design and test process. Such an approach aims at complementing the standard building-block model that represents the state-of-the-art in robotic communication. Moreover, we provide some general ideas of how the model can facilitate the use of available communicative strategies for creating more efficient culturally sustainable robots in contexts of joint action.

show abstract

Show me your moves! Conveying navigation intention of a mobile robot to humans

Cited by 42 publications

References 14 publications

A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-By Scenario

A Preliminary Study of Interactive Navigation Framework with Situation-Adaptive Multimodal Inducement: Pass-By Scenario

Communicating Intent of Automated Vehicles to Pedestrians

A Horizontal Approach to Communication for Human-Robot Joint Action: Towards Situated and Sustainable Robotics

Contact Info

Product

Resources

About