Adaptive Human aware Navigation based on Motion Pattern Analysis

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809 Downloads (Pure)

Resumé

Respecting people’s social spaces is an important
prerequisite for acceptable and natural robot navigation in
human environments. In this paper, we describe an adaptive
system for mobile robot navigation based on estimates of
whether a person seeks to interact with the robot or not.
The estimates are based on run-time motion pattern analysis
compared to stored experience in a database. Using a potential
field centered around the person, the robot positions itself at the
most appropriate place relative to the person and the interaction
status. The system is validated through qualitative tests in a real
world setting. The results demonstrate that the system is able
to learn to navigate based on past interaction experiences, and
to adapt to different behaviors over time.
OriginalsprogEngelsk
TitelThe 18th IEEE International Symposium on Robot and Human Interactive Communication, 2009. RO-MAN 2009
Antal sider6
ForlagIEEE
Publikationsdato2009
Sider927-932
ISBN (Trykt)978-1-4244-5081-7
DOI
StatusUdgivet - 2009
BegivenhedRobot and Human interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on - Toyama, Japan
Varighed: 27 sep. 20092 okt. 2009

Konference

KonferenceRobot and Human interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on
LandJapan
ByToyama
Periode27/09/200902/10/2009
NavnIEEE International Symposium on Robot and Human Interactive Communication
ISSN1944-9445

Fingerprint

Navigation
Robots
Mobile robots

Emneord

  • Robot Controller

Citer dette

Hansen, S. T., Svenstrup, M., Andersen, H. J., & Bak, T. (2009). Adaptive Human aware Navigation based on Motion Pattern Analysis. I The 18th IEEE International Symposium on Robot and Human Interactive Communication, 2009. RO-MAN 2009 (s. 927-932). IEEE. IEEE International Symposium on Robot and Human Interactive Communication https://doi.org/10.1109/ROMAN.2009.5326212
Hansen, Søren Tranberg ; Svenstrup, Mikael ; Andersen, Hans Jørgen ; Bak, Thomas. / Adaptive Human aware Navigation based on Motion Pattern Analysis. The 18th IEEE International Symposium on Robot and Human Interactive Communication, 2009. RO-MAN 2009. IEEE, 2009. s. 927-932 (IEEE International Symposium on Robot and Human Interactive Communication).
@inproceedings{3d3b4730bfe311debaaa000ea68e967b,
title = "Adaptive Human aware Navigation based on Motion Pattern Analysis",
abstract = "Respecting people’s social spaces is an importantprerequisite for acceptable and natural robot navigation inhuman environments. In this paper, we describe an adaptivesystem for mobile robot navigation based on estimates ofwhether a person seeks to interact with the robot or not.The estimates are based on run-time motion pattern analysiscompared to stored experience in a database. Using a potentialfield centered around the person, the robot positions itself at themost appropriate place relative to the person and the interactionstatus. The system is validated through qualitative tests in a realworld setting. The results demonstrate that the system is ableto learn to navigate based on past interaction experiences, andto adapt to different behaviors over time.",
keywords = "Robot Controller, Human Robot Interaction, Robot Control, Robot Navigation, Adaptive Robot Bahaviour, Mobile Robotics, Robot Learning",
author = "Hansen, {S{\o}ren Tranberg} and Mikael Svenstrup and Andersen, {Hans J{\o}rgen} and Thomas Bak",
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Hansen, ST, Svenstrup, M, Andersen, HJ & Bak, T 2009, Adaptive Human aware Navigation based on Motion Pattern Analysis. i The 18th IEEE International Symposium on Robot and Human Interactive Communication, 2009. RO-MAN 2009. IEEE, IEEE International Symposium on Robot and Human Interactive Communication, s. 927-932, Robot and Human interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on, Toyama, Japan, 27/09/2009. https://doi.org/10.1109/ROMAN.2009.5326212

Adaptive Human aware Navigation based on Motion Pattern Analysis. / Hansen, Søren Tranberg; Svenstrup, Mikael; Andersen, Hans Jørgen; Bak, Thomas.

The 18th IEEE International Symposium on Robot and Human Interactive Communication, 2009. RO-MAN 2009. IEEE, 2009. s. 927-932.

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

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N2 - Respecting people’s social spaces is an importantprerequisite for acceptable and natural robot navigation inhuman environments. In this paper, we describe an adaptivesystem for mobile robot navigation based on estimates ofwhether a person seeks to interact with the robot or not.The estimates are based on run-time motion pattern analysiscompared to stored experience in a database. Using a potentialfield centered around the person, the robot positions itself at themost appropriate place relative to the person and the interactionstatus. The system is validated through qualitative tests in a realworld setting. The results demonstrate that the system is ableto learn to navigate based on past interaction experiences, andto adapt to different behaviors over time.

AB - Respecting people’s social spaces is an importantprerequisite for acceptable and natural robot navigation inhuman environments. In this paper, we describe an adaptivesystem for mobile robot navigation based on estimates ofwhether a person seeks to interact with the robot or not.The estimates are based on run-time motion pattern analysiscompared to stored experience in a database. Using a potentialfield centered around the person, the robot positions itself at themost appropriate place relative to the person and the interactionstatus. The system is validated through qualitative tests in a realworld setting. The results demonstrate that the system is ableto learn to navigate based on past interaction experiences, andto adapt to different behaviors over time.

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Hansen ST, Svenstrup M, Andersen HJ, Bak T. Adaptive Human aware Navigation based on Motion Pattern Analysis. I The 18th IEEE International Symposium on Robot and Human Interactive Communication, 2009. RO-MAN 2009. IEEE. 2009. s. 927-932. (IEEE International Symposium on Robot and Human Interactive Communication). https://doi.org/10.1109/ROMAN.2009.5326212