Collision avoidance between two walkers: Role-dependent strategies

Olivier, Anne-Hélène; Marin, Antoine; Crétual, Armel; Berthoz, Alain; Pettré, Julien

doi:10.1016/j.gaitpost.2013.03.017

Cited by 99 publications

(139 citation statements)

References 23 publications

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“…This effect of orientation on the clearance distance may be explained by the shape of the personal space, that was shown to be elliptic [6] with larger distance in the anteroposterior axis than the mediolateral one. In that sense, other authors attribute some role dependent strategies for collision avoidance between two walkers to the asymmetry of personal space [13]. This suggests that even in virtual conditions, users consider the personal space of the human obstacle in the collision avoidance task.…”

Section: Discussionmentioning

confidence: 99%

Virtual proxemics: Locomotion in the presence of obstacles in large immersive projection environments

Argelaguet

Olivier

Bruder

et al. 2015

2015 IEEE Virtual Reality (VR)

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Figure 1: Experimental conditions considered on the collision avoidance experiment. We analyzed the participants' avoidance behavior for real (left) and virtual objects (right), considering anthropomorphic and inanimated objects. ABSTRACTIn this paper, we investigate obstacle avoidance behavior during real walking in a large immersive projection setup. We analyze the walking behavior of users when avoiding real and virtual static obstacles. In order to generalize our study, we consider both anthropomorphic and inanimate objects, each having his virtual and real counterpart. The results showed that users exhibit different locomotion behaviors in the presence of real and virtual obstacles, and in the presence of anthropomorphic and inanimate objects. Precisely, the results showed a decrease of walking speed as well as an increase of the clearance distance (i. e., the minimal distance between the walker and the obstacle) when facing virtual obstacles compared to real ones. Moreover, our results suggest that users act differently due to their perception of the obstacle: users keep more distance when the obstacle is anthropomorphic compared to an inanimate object and when the orientation of anthropomorphic obstacle is from the profile compared to a front position. We discuss implications on future large shared immersive projection spaces.

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Section: Discussionmentioning

confidence: 99%

Virtual proxemics: Locomotion in the presence of obstacles in large immersive projection environments

Argelaguet

Olivier

Bruder

et al. 2015

2015 IEEE Virtual Reality (VR)

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“…Various groups of researches have studied human collision avoidance during walking [5,6,15,16,31,54,55,61]. They have been interested in when, where, as well as to which extent humans adjust their path or velocity to avoid a collision with another dynamic object.…”

Section: Related Workmentioning

confidence: 99%

“…A vital factor for achieving this goal is the awareness of the mutual influence between human individuals and the robotic systems. Modern robotic systems have to consider that humans are interaction-aware: they reason about the impact of possible future actions on the surrounding and expect similar anticipation from everyone else [6,55,61]. Of our particular interest is the interaction-aware navigation of humans, meaning the conditionally cooperative behavior that leads to mutual avoidance maneuvers.…”

Section: Introductionmentioning

confidence: 99%

Understanding Human Avoidance Behavior: Interaction-Aware Decision Making Based on Game Theory

Turnwald

Althoff

Wollherr

et al. 2016

Int J of Soc Robotics

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Being aware of mutual influences between individuals is a major requirement a robot to efficiently operate in human populated environments. This is especially true for the navigation among humans with its mutual avoidance maneuvers. While humans easily manage this task, robotic systems are still facing problems. Most of the recent approaches concentrate on predicting the motions of humans individually and deciding afterwards. Thereby, interactivity is mostly neglected. In this work, we go one step back and focus on understanding the underlying principle of human decision making in the presence of multiple humans. Noncooperative game theory is applied to formulate the problem of predicting the decisions of multiple humans that interact which each other during navigation. Therefore, we use the theory of Nash equilibria in static and dynamic games where different cost functions from literature rate the payoffs of the individual humans. The approach anticipates collisions and additionally reasons about several avoidance maneuvers of all humans. For the evaluation of the game theoretic approach we recorded trajectories of humans passing each other. The evaluation shows that game theory is able to reproduce the

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“…Certainly, some interactions that pedestrians engage in are physical, but most are not. For example, physics approaches to treating streetscape dynamics may invoke considerations of distance and personal space in collision, which are relevant in examining Newtonian-type forces between pedestrians [88,91], whether through tangible collisions, or as human-perceived repulsion and attraction effects [73,[92][93][94][95][96]. However, decades of socio-behavioral science provide alternative cognitive and social explanations for much of the dynamics presented in physics-based models [45].…”

Section: Physicsmentioning

confidence: 99%

“…Reciprocity between potential colliders can also play a role in determining how, when, and by how much people will steer to avoid a collision [190]. Olivier et al [96] have shown that roles may be important in determining this over small bundles of space and time, and that these take on signaling schemes that intertwine with the positional data that are briefly exchanged and estimated as a person determines steering. Reciprocity may assume varying form, depending on different strategies, spacing, and timing when steering for animate and inanimate colliders [240].…”

Section: Steering To Avoid and Avail Of Interactionmentioning

confidence: 99%

Computational Streetscapes

Torrens

2016

Computation

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Abstract:Streetscapes have presented a long-standing interest in many fields. Recently, there has been a resurgence of attention on streetscape issues, catalyzed in large part by computing. Because of computing, there is more understanding, vistas, data, and analysis of and on streetscape phenomena than ever before. This diversity of lenses trained on streetscapes permits us to address long-standing questions, such as how people use information while mobile, how interactions with people and things occur on streets, how we might safeguard crowds, how we can design services to assist pedestrians, and how we could better support special populations as they traverse cities. Amid each of these avenues of inquiry, computing is facilitating new ways of posing these questions, particularly by expanding the scope of what-if exploration that is possible. With assistance from computing, consideration of streetscapes now reaches across scales, from the neurological interactions that form among place cells in the brain up to informatics that afford real-time views of activity over whole urban spaces. For some streetscape phenomena, computing allows us to build realistic but synthetic facsimiles in computation, which can function as artificial laboratories for testing ideas. In this paper, I review the domain science for studying streetscapes from vantages in physics, urban studies, animation and the visual arts, psychology, biology, and behavioral geography. I also review the computational developments shaping streetscape science, with particular emphasis on modeling and simulation as informed by data acquisition and generation, data models, path-planning heuristics, artificial intelligence for navigation and way-finding, timing, synthetic vision, steering routines, kinematics, and geometrical treatment of collision detection and avoidance. I also discuss the implications that the advances in computing streetscapes might have on emerging developments in cyber-physical systems and new developments in urban computing and mobile computing.

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Collision avoidance between two walkers: Role-dependent strategies

Cited by 99 publications

References 23 publications

Virtual proxemics: Locomotion in the presence of obstacles in large immersive projection environments

Virtual proxemics: Locomotion in the presence of obstacles in large immersive projection environments

Understanding Human Avoidance Behavior: Interaction-Aware Decision Making Based on Game Theory

Computational Streetscapes

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