On equitably approaching and joining a group of interacting humans

Narayanan, Vishnu K.; Spalanzani, Anne; Pasteau, François; Babel, Marie

doi:10.1109/iros.2015.7353952

Cited by 10 publications

(7 citation statements)

References 26 publications

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“…Therefore if J i J + i is positive definite, thenV < 0. This condition is true (since the product is Identity) as per the definition of the Jacobians J 1 and J 2 (see [8]) and as the interaction matrix L is well defined. The only singularity occurs when the robot starts at a position in the same hyperplane as, and directly facing, the interacting humans (i.e.…”

Section: A Stabilitymentioning

confidence: 93%

“…minimize task 1 (e 1 ) and task 2 (e 2 ) to zero) while ensuring spatial social constraints. But we can see that each task (e 1 and e 2 ) constrains both the DOFs of the robot (as shown in [8]). Therefore realising an optimal switching from task e 1 to task e 2 at specific intervals can ensure their simultaneous convergence, as well as ensure a constrained socially complaint trajectory generation.…”

Section: B Velocity Control Lawmentioning

confidence: 99%

“…Consequently task e 2 can be projected onto the null space of task e 1 using a projection operator P H . This is achieved using the following control strategy proposed in [8]: represents the continuous inversion of the product P H J 2 . The theoretical bases and proof of continuity of these operators are provided in [23].…”

Section: B Velocity Control Lawmentioning

confidence: 99%

“…In [8] we introduced, a feature-based motion strategy that utilized easily extractable features from a detected human group in order to generate a socially acceptable motion to approach and join the group in an equitable manner and to maintain formation. The applicability of the strategy is wide, from humanoid robots to service robots to intelligent wheelchairs.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Analysis of an adaptive strategy for equitably approaching and joining human interactions

Narayanan

Spalanzani

Luo

et al. 2016

2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)

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Since social, assistive and companion robots need to navigate within human crowds, understanding spatial social conventions while designing navigation solutions for such robots is an essential issue. This work presents an analysis of an socially compliant robot motion strategy that could be employed by social robots such as humanoids, service robots or intelligent wheelchairs, for approaching and joining humans groups in interaction, and then become an equitable part of the interaction. Following our previous work that formalized the motion strategy, a detailed synthesis is presented here with experiments that validate the proposed system in the real world.

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Section: A Stabilitymentioning

confidence: 93%

Section: B Velocity Control Lawmentioning

confidence: 99%

Section: B Velocity Control Lawmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Analysis of an adaptive strategy for equitably approaching and joining human interactions

Narayanan

Spalanzani

Luo

et al. 2016

2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)

Self Cite

View full text Add to dashboard Cite

show abstract

“…(3)). Only a single goal pose (X 1 ) was pre-set for the simulation: the meeting point for the group where the robot should reach in order to equitably share space among the group [32]. The probability P (X 1 |X t ) was designed as max(0, 1 − d (Xt,X1) 3 ).…”

Section: A Simulationsmentioning

confidence: 99%

A semi-autonomous framework for human-aware and user intention driven wheelchair mobility assistance

Narayanan

Spalanzani

Babel

2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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An important aspect to be taken care of while designing assistive robots for mobility is that they need to operate among humans. Thus understanding human spatial social conventions and incorporating them in the assistive solutions, is important. In this paper, we introduce a semi-autonomous framework for assistive wheelchair navigation in human environments, which is driven by the intention of the wheelchair user. Safe and socially compliant motion provided by a user intention driven local motion planner is fused with user teleoperation in order to create such a system. Taking into account the fact that the user is the primary controller, our proposed system aims to provide progressive assistance whenever the user is in danger of collision or at risk of disturbance to other humans. We also thus propose generalized formulations for estimating user intentions and for sharing control within the context of wheelchair mobility assistance, that is adaptable in order to be deployed in real world systems. We then evaluate the proposed framework in simulation in order to obtain a quantitative analysis. We also provide experimental evidence using an off-the-shelf robotized wheelchair equipped with a single 2D laser scanner.

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Adaptive Side-by-Side Social Robot Navigation to Approach and Interact with People

Repiso

Garrell

Sanfeliu

2019

Int J of Soc Robotics

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This paper presents a new framework for how autonomous social robots approach and accompany people in urban environments. The method discussed allows the robot to accompany a person and approach to other one, by adapting its own navigation in anticipation of future interactions with other people or contact with static obstacles. The contributions of the paper are manifold: firstly, we extended the Social Force model and the Anticipative Kinodynamic Planner [1] to the case of an adaptive side-by-side navigation; secondly, we enhance side-by-side navigation with an approaching task and a final positioning that allows the robot to interact with both people; and finally, we use findings from experiments of real-life observations of people walking in pairs to define the parameters of the human-robot interaction in our case of adaptive sideby-side. The method was validated by a large set of simulations; we also conducted real-life experiments with our robot, Tibi, to validate the framework described for the interaction process. In addition, we carried out various surveys and user studies to indicate the social acceptability of the robots performance of the accompanying, approaching and positioning tasks.

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On equitably approaching and joining a group of interacting humans

Cited by 10 publications

References 26 publications

Analysis of an adaptive strategy for equitably approaching and joining human interactions

Analysis of an adaptive strategy for equitably approaching and joining human interactions

A semi-autonomous framework for human-aware and user intention driven wheelchair mobility assistance

Adaptive Side-by-Side Social Robot Navigation to Approach and Interact with People

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