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Citació: Garrell, A.; Sanfeliu, A. Model validation: robot behavior in people guidance mission using DTM model and estimation of human motion behavior. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "IROS 2010 : the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems: proceedings : Taipei, Taiwan, Oct. 18-22, 2010". Taipei: 2010, p. 5836-5841.
Títol: Model validation: robot behavior in people guidance mission using DTM model and estimation of human motion behavior
Autor: Garrell Zulueta, Anais Veure Producció científica UPC; Sanfeliu Cortés, Alberto Veure Producció científica UPC
Data: 2010
Tipus de document: Conference report
Resum: This paper describes the validation process of a simulation model that have been used to explore the new possibilities of interaction when humans are guided by teams of robots that work cooperatively in urban areas. The set of experiments, which have been recorded as video sequences, show a group of people being guided by a team of three people (who play the role of the guide robots). The model used in the simulation process is called Discrete Time Motion model (DTM) described in [7], where the environment is modeled using a set of potential fields, and people’s motion is represented through tension functions. The video sequences were recorded in an urban space of 10:000 m2 denominated Barcelona Robot Lab, where people move in the urban space following diverse trajectories. The motion (pose and velocity) of people and robots extracted from the video sequences were compared against the predictions of the DTM model. Finally, we checked the proper functioning of the model by studying the position error differences of the recorded and simulated sequences.
URI: http://hdl.handle.net/2117/14614
DOI: 10.1109/IROS.2010.5651685
Versió de l'editor: http://dx.doi.org/10.1109/IROS.2010.5651685
Apareix a les col·leccions:VIS - Visió Artificial i Sistemes Intel.ligents. Ponències/Comunicacions de congressos
Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial. Ponències/Comunicacions de congressos
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