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Cooperative robots in people guidance mission: DTM model validation and local optimization motion
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 | 2011-05-03T09:58:46Z |
dc.date.available | 2011-05-03T09:58:46Z |
dc.date.created | 2010 |
dc.date.issued | 2010 |
dc.identifier.citation | Garrell, 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. |
dc.identifier.isbn | 9781424466757 |
dc.identifier.uri | http://hdl.handle.net/2117/12450 |
dc.description.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. |
dc.format.extent | 34 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 | Mobile robots |
dc.subject.lcsh | Multi-robot systems |
dc.subject.lcsh | Service robots |
dc.subject.other | mobile robots multi-robot systems service robots |
dc.title | Cooperative robots in people guidance mission: DTM model validation and local optimization motion |
dc.type | Lecture |
dc.subject.lemac | Robots mòbils -- Disseny i construcció |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.description.peerreviewed | Peer Reviewed |
dc.relation.publisherversion | http://www.irc.atr.jp/iros10_nrs_workshop/ |
dc.rights.access | Open Access |
local.identifier.drac | 4969583 |
dc.description.version | Postprint (published version) |
local.citation.author | Garrell, A.; Sanfeliu, A. |
local.citation.contributor | IROS Workshop on Network Robot Systems |
local.citation.pubplace | Taipei |
local.citation.publicationName | IEEE/RSJ International Conference on Intelligent Robot and Systems |
local.citation.startingPage | 1 |
local.citation.endingPage | 34 |
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