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Model validation: robot behavior in people guidance mission using DTM model and estimation of human motion behavior
dc.contributor.author | Garrell Zulueta, Anais |
dc.contributor.author | Sanfeliu Cortés, Alberto |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2012-01-17T18:35:48Z |
dc.date.available | 2012-01-17T18:35:48Z |
dc.date.created | 2010 |
dc.date.issued | 2010 |
dc.identifier.citation | 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. |
dc.identifier.uri | http://hdl.handle.net/2117/14614 |
dc.description.abstract | 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. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Neural networks (Computer science) |
dc.subject.other | mobile robots multi-robot systems robots service robots |
dc.title | Model validation: robot behavior in people guidance mission using DTM model and estimation of human motion behavior |
dc.type | Conference report |
dc.subject.lemac | Xarxes neuronals (Informàtica) |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.identifier.doi | 10.1109/IROS.2010.5651685 |
dc.subject.inspec | Classificació INSPEC::Automation::Robots::Mobile robots |
dc.relation.publisherversion | http://dx.doi.org/10.1109/IROS.2010.5651685 |
dc.rights.access | Open Access |
local.identifier.drac | 4969206 |
dc.description.version | Postprint (published version) |
local.citation.author | Garrell, A.; Sanfeliu, A. |
local.citation.contributor | IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.pubplace | Taipei |
local.citation.publicationName | IROS 2010 : the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems: proceedings : Taipei, Taiwan, Oct. 18-22, 2010 |
local.citation.startingPage | 5836 |
local.citation.endingPage | 5841 |