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Cooperative robots in people guidance mission: DTM model validation and local optimization motion

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Garrell Zulueta, AnaisMés informacióMés informacióMés informació
Sanfeliu Cortés, AlbertoMés informacióMés informacióMés informació
Document typeLecture
Defense date2010
Rights accessOpen Access
Attribution-NonCommercial-NoDerivs 3.0 Spain
This work is protected by the corresponding intellectual and industrial property rights. Except where otherwise noted, its contents are licensed under a Creative Commons license : Attribution-NonCommercial-NoDerivs 3.0 Spain
Abstract
This work presents a novel approach for optimizing locally the work of cooperative robots and obtaining the minimum displacement of humans in a guiding people mission. This problem is addressed by introducing a “Discrete Time Motion” model (DTM) and a new cost function that minimizes the work required by robots for leading and regrouping people. Furthermore, an analysis of forces actuating among robots and humans is presented throughout simulations of different situations of robot and human configurations and behaviors. Finally, we describe the process of modeling and validation by simulation 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.
CitationGarrell, A.; Sanfeliu, A. Cooperative robots in people guidance mission: DTM model validation and local optimization motion. A: IROS Workshop on Network Robot Systems. "IEEE/RSJ International Conference on Intelligent Robot and Systems". Taipei: 2010, p. 1-34. 
URIhttp://hdl.handle.net/2117/12450
ISBN9781424466757
Publisher versionhttp://www.irc.atr.jp/iros10_nrs_workshop/
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  • Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Presentacions [1]
  • VIS - Visió Artificial i Sistemes Intel·ligents - Presentacions [2]
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