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Robot companion: a social-force based approach with human awareness-navigation in crowded environments
dc.contributor.author | Ferrer Mínguez, Gonzalo |
dc.contributor.author | Garrell Zulueta, Anais |
dc.contributor.author | Sanfeliu Cortés, Alberto |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.date.accessioned | 2014-12-05T18:31:24Z |
dc.date.available | 2014-12-05T18:31:24Z |
dc.date.created | 2013 |
dc.date.issued | 2013 |
dc.identifier.citation | Ferrer, G.; Garrell, A.; Sanfeliu, A. Robot companion: a social-force based approach with human awareness-navigation in crowded environments. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "IROS 2013: New Horizon Conference Digest: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems: Tokyo, Big Sight, Tokyo, Japan, November 3-8, 2013". Tokyo: Institute of Electrical and Electronics Engineers (IEEE), 2013, p. 1688-1694. |
dc.identifier.uri | http://hdl.handle.net/2117/24954 |
dc.description.abstract | Robots accompanying humans is one of the core capacities every service robot deployed in urban settings should have. We present a novel robot companion approach based on the so-called Social Force Model (SFM). A new model of robot-person interaction is obtained using the SFM which is suited for our robots Tibi and Dabo. Additionally, we propose an interactive scheme for robot’s human-awareness navigation using the SFM and prediction information. Moreover, we present a new metric to evaluate the robot companion performance based on vital spaces and comfortableness criteria. Also, a multimodal human feedback is proposed to enhance the behavior of the system. The validation of the model is accomplished throughout an extensive set of simulations and real-life experiments. |
dc.format.extent | 7 p. |
dc.language.iso | eng |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
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 | Robots |
dc.subject.other | intelligent robots |
dc.title | Robot companion: a social-force based approach with human awareness-navigation in crowded environments |
dc.type | Conference report |
dc.subject.lemac | Robòtica |
dc.contributor.group | Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents |
dc.identifier.doi | 10.1109/IROS.2013.6696576 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Automation::Robots::Intelligent robots |
dc.relation.publisherversion | http://dx.doi.org/10.1109/IROS.2013.6696576 |
dc.rights.access | Open Access |
local.identifier.drac | 13044068 |
dc.description.version | Postprint (author’s final draft) |
local.citation.author | Ferrer, G.; Garrell, A.; Sanfeliu, A. |
local.citation.contributor | IEEE/RSJ International Conference on Intelligent Robots and Systems |
local.citation.pubplace | Tokyo |
local.citation.publicationName | IROS 2013: New Horizon Conference Digest: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems: Tokyo, Big Sight, Tokyo, Japan, November 3-8, 2013 |
local.citation.startingPage | 1688 |
local.citation.endingPage | 1694 |