Guzzi, Jerome and Giusti, Alessandro and Gambardella, Luca Maria and Theraulaz, Guy and Di Caro, Gianni (2013) Human-friendly robot navigation in dynamic environments. In: Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA), 2013 IEEE International Conference on Robotics and Automation, 06 May 2013 - 10 May 2013, Karlsruhe.
Full text not available from this repository.Abstract
The vision-based mechanisms that pedestrians in social groups use to navigate in dynamic environments, avoiding obstacles and each others, have been subject to a large amount of research in social anthropology and biological sciences. We build on recent results in these fields to develop a novel fully-distributed algorithm for robot local navigation, which implements the same heuristics for mutual avoidance adopted by humans. The resulting trajectories are human-friendly, because they can intuitively be predicted and interpreted by humans, making the algorithm suitable for the use on robots sharing navigation spaces with humans. The algorithm is computationally light and simple to implement. We study its efficiency and safety in presence of sensing uncertainty, and demonstrate its implementation on real robots. Through extensive quantitative simulations we explore various parameters of the system and demonstrate its good properties in scenarios of different complexity. When the algorithm is implemented on robot swarms, we could observe emergent collective behaviors similar to those observed in human crowds.
| Item Type: | Article in conference proceedings or Presentation at a conference (Paper) |
|---|---|
| Uncontrolled Keywords: | mobile robots;navigation;path planning;biological sciences;dynamic environments;human crowds;human friendly robot navigation;navigation spaces;obstacle avoidance;pedestrians;robot local navigation;social anthropology;social groups;vision based mechanisms;Collision avoidance;Navigation;Robot kinematics;Robot sensing systems;Safety;Trajectory |
| Subjects: | Computer sciences > Artificial intelligence > Artificial intelligence not elsewhere classified |
| Department/unit: | Dipartimento tecnologie innovative > Istituto Dalle Molle di studi sull’intelligenza artificiale USI-SUPSI |
| Depositing User: | Jerome Guzzi |
| Date Deposited: | 04 Apr 2014 12:47 |
| Last Modified: | 04 Apr 2014 12:47 |
| URI: | http://repository.supsi.ch/id/eprint/4666 |
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