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dc.contributor.authorGarrell Zulueta, Anais
dc.contributor.authorSanfeliu Cortés, Alberto
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2012-01-17T18:35:48Z
dc.date.available2012-01-17T18:35:48Z
dc.date.created2010
dc.date.issued2010
dc.identifier.citationGarrell, 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.urihttp://hdl.handle.net/2117/14614
dc.description.abstractThis 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.extent6 p.
dc.language.isoeng
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshNeural networks (Computer science)
dc.subject.othermobile robots multi-robot systems robots service robots
dc.titleModel validation: robot behavior in people guidance mission using DTM model and estimation of human motion behavior
dc.typeConference report
dc.subject.lemacXarxes neuronals (Informàtica)
dc.contributor.groupUniversitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents
dc.identifier.doi10.1109/IROS.2010.5651685
dc.subject.inspecClassificació INSPEC::Automation::Robots::Mobile robots
dc.relation.publisherversionhttp://dx.doi.org/10.1109/IROS.2010.5651685
dc.rights.accessOpen Access
drac.iddocument4969206
dc.description.versionPostprint (published version)
upcommons.citation.authorGarrell, A.; Sanfeliu, A.
upcommons.citation.contributorIEEE/RSJ International Conference on Intelligent Robots and Systems
upcommons.citation.pubplaceTaipei
upcommons.citation.publishedtrue
upcommons.citation.publicationNameIROS 2010 : the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems: proceedings : Taipei, Taiwan, Oct. 18-22, 2010
upcommons.citation.startingPage5836
upcommons.citation.endingPage5841


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Except where otherwise noted, content on this work is licensed under a Creative Commons license: Attribution-NonCommercial-NoDerivs 3.0 Spain