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Discrete time motion model for guiding people in urban areas using multiple robots
dc.contributor.author | Garrell Zulueta, Anais |
dc.contributor.author | Sanfeliu Cortés, Alberto |
dc.contributor.author | Moreno-Noguer, Francesc |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2010-09-29T16:39:49Z |
dc.date.available | 2010-09-29T16:39:49Z |
dc.date.created | 2009 |
dc.date.issued | 2009 |
dc.identifier.citation | Garrell, A.; Sanfeliu, A.; Moreno, F. Discrete time motion model for guiding people in urban areas using multiple robots. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "IROS 2009 : 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems". St. Louis, MO: IEEE Press. Institute of Electrical and Electronics Engineers, 2009, p. 486-491. |
dc.identifier.isbn | 978-1-4244-3804-4 |
dc.identifier.uri | http://hdl.handle.net/2117/9176 |
dc.description.abstract | We present a new model for people guidance in urban settings using several mobile robots, that overcomes the limitations of existing approaches, which are either tailored to tightly bounded environments, or based on unrealistic human behaviors. Although the robots motion is controlled by means of a standard particle filter formulation, the novelty of our approach resides in how the environment and human and robot motions are modeled. In particular we define a “Discrete-Time-Motion” model, which from one side represents the environment by means of a potential field, that makes it appropriate to deal with open areas, and on the other hand the motion models for people and robots respond to realistic situations, and for instance human behaviors such as “leaving the group” are considered. |
dc.format.extent | 6 p. |
dc.language.iso | eng |
dc.publisher | IEEE Press. Institute of Electrical and Electronics Engineers |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Automation |
dc.subject.other | Social robotics Human robot interaction Cooperative robotics |
dc.title | Discrete time motion model for guiding people in urban areas using multiple robots |
dc.type | Conference report |
dc.subject.lemac | Automatització |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.subject.inspec | Classificació INSPEC::Automation |
dc.relation.publisherversion | http://dx.doi.org/10.1109/IROS.2009.5354740 |
dc.rights.access | Open Access |
local.identifier.drac | 2454147 |
dc.description.version | Postprint (published version) |
local.citation.author | Garrell, A.; Sanfeliu, A.; Moreno, F. |
local.citation.contributor | IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.pubplace | St. Louis, MO |
local.citation.publicationName | IROS 2009 : 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.startingPage | 486 |
local.citation.endingPage | 491 |