loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Wanting Jin ; Paolo Salaris and Philippe Martinet

Affiliation: Chorale Team, INRIA Sophia Antipolis, Valbonne, France

Keyword(s): Human-robot Interaction, Proactive Planning, Cooperative Behavior, Social Force Model.

Abstract: This work1 deals with the problem of navigating a robot in a constrained human-like environment. We provide a method to generate a control strategy that enables the robot to proactively move in order to induce desired and socially acceptable cooperative behaviors in neighboring pedestrians. Contrary to other control strategies that simply aim to passively avoid neighboring pedestrians, this approach aims to simplify the navigation task of a robot by looking for cooperation with humans, especially in crowded and constrained environments. The co-navigation process between humans and a robot is formalized as a multi-objective optimization problem and a control strategy is obtained through the Model Predictive Control (MPC) approach. The Extended Headed Social Force Model with Collision Prediction (EHSFM with CP) is used to predict the human motion. Different social behaviors of humans when moving in a group are also taken into account. A switching strategy between purely reactive and pr oactive-cooperative planning depending on the evaluation of human intentions is also furnished. Validation of the proactive-cooperative planner enables the robot to generate more socially and understandable behaviors is done with different navigation scenarios. (More)

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.216.147.121

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Jin, W., Salaris, P. and Martinet, P. (2020). Proactive-cooperative Navigation in Human-like Environment for Autonomous Robots. In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-442-8; ISSN 2184-2809, SciTePress, pages 412-419. DOI: 10.5220/0009822004120419

@conference{icinco20,
author={Wanting Jin and Paolo Salaris and Philippe Martinet},
title={Proactive-cooperative Navigation in Human-like Environment for Autonomous Robots},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2020},
pages={412-419},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009822004120419},
isbn={978-989-758-442-8},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Proactive-cooperative Navigation in Human-like Environment for Autonomous Robots
SN - 978-989-758-442-8
IS - 2184-2809
AU - Jin, W.
AU - Salaris, P.
AU - Martinet, P.
PY - 2020
SP - 412
EP - 419
DO - 10.5220/0009822004120419
PB - SciTePress

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: info@scitepress.org

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic