Using contact-based inducement for efficient navigation in a congested environment

Moondeep Chandra Shrestha; Yosuke Nohisa; Alexander Schmitz; Shouichi Hayakawa; Erika Uno; Yuta Yokoyama; Hayato Yanagawa; Keung Or; Shigeki Sugano

doi:10.1109/ROMAN.2015.7333673

Using contact-based inducement for efficient navigation in a congested environment

Moondeep Chandra Shrestha, Yosuke Nohisa, Alexander Schmitz, Shouichi Hayakawa, Erika Uno, Yuta Yokoyama, Hayato Yanagawa, Keung Or, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

10 Citations (Scopus)

Abstract

As robots progressively continue to enter human lives, it becomes important for robots to navigate safely and efficiently in crowded environments. In fact, efficient navigation in crowded areas is an important prerequisite for successful coexistence between humans and robots. In this paper, we explore an unconventional idea wherein a robot tries to achieve a more efficient navigation by influencing an obstructing human to move away by means of contact. First, preliminary human reaction experiments were conducted wherein we established that we can successfully induce a human to move in a desired direction. Following this result, we have proposed a novel motion planning approach which considers inducement by contact. The system is then verified through simulation and real experiments. The results show us that the proposed method can be utilized for safer and more efficient navigation in a crowded, but relatively static environment.

Original language	English
Title of host publication	Proceedings - IEEE International Workshop on Robot and Human Interactive Communication
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	456-461
Number of pages	6
Volume	2015-November
ISBN (Print)	9781467367042
DOIs	https://doi.org/10.1109/ROMAN.2015.7333673
Publication status	Published - 2015 Nov 20
Event	24th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2015 - Kobe, Japan Duration: 2015 Aug 31 → 2015 Sept 4

Other

Other	24th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2015
Country/Territory	Japan
City	Kobe
Period	15/8/31 → 15/9/4

ASJC Scopus subject areas

Software
Artificial Intelligence
Human-Computer Interaction
Computer Vision and Pattern Recognition

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10.1109/ROMAN.2015.7333673

Cite this

Shrestha, M. C., Nohisa, Y., Schmitz, A., Hayakawa, S., Uno, E., Yokoyama, Y., Yanagawa, H., Or, K., & Sugano, S. (2015). Using contact-based inducement for efficient navigation in a congested environment. In Proceedings - IEEE International Workshop on Robot and Human Interactive Communication (Vol. 2015-November, pp. 456-461). [7333673] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROMAN.2015.7333673

Using contact-based inducement for efficient navigation in a congested environment. / Shrestha, Moondeep Chandra; Nohisa, Yosuke; Schmitz, Alexander et al.

Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. Vol. 2015-November Institute of Electrical and Electronics Engineers Inc., 2015. p. 456-461 7333673.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Shrestha, MC, Nohisa, Y, Schmitz, A, Hayakawa, S, Uno, E, Yokoyama, Y, Yanagawa, H, Or, K & Sugano, S 2015, Using contact-based inducement for efficient navigation in a congested environment. in Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. vol. 2015-November, 7333673, Institute of Electrical and Electronics Engineers Inc., pp. 456-461, 24th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2015, Kobe, Japan, 15/8/31. https://doi.org/10.1109/ROMAN.2015.7333673

Shrestha MC, Nohisa Y, Schmitz A, Hayakawa S, Uno E, Yokoyama Y et al. Using contact-based inducement for efficient navigation in a congested environment. In Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. Vol. 2015-November. Institute of Electrical and Electronics Engineers Inc. 2015. p. 456-461. 7333673 doi: 10.1109/ROMAN.2015.7333673

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AU - Yanagawa, Hayato

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Using contact-based inducement for efficient navigation in a congested environment

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