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 proceedingConference contribution

    4 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 languageEnglish
    Title of host publicationProceedings - IEEE International Workshop on Robot and Human Interactive Communication
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages456-461
    Number of pages6
    Volume2015-November
    ISBN (Print)9781467367042
    DOIs
    Publication statusPublished - 2015 Nov 20
    Event24th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2015 - Kobe, Japan
    Duration: 2015 Aug 312015 Sep 4

    Other

    Other24th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2015
    CountryJapan
    CityKobe
    Period15/8/3115/9/4

    Fingerprint

    Navigation
    Robots
    Motion planning
    Experiments

    ASJC Scopus subject areas

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

    Cite this

    Shrestha, M. C., Nohisa, Y., Schmitz, A., Hayakawa, S., Uno, E., Yokoyama, Y., ... 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; Hayakawa, Shouichi; Uno, Erika; Yokoyama, Yuta; Yanagawa, Hayato; Or, Keung; Sugano, Shigeki.

    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 proceedingConference 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 https://doi.org/10.1109/ROMAN.2015.7333673
    Shrestha, Moondeep Chandra ; Nohisa, Yosuke ; Schmitz, Alexander ; Hayakawa, Shouichi ; Uno, Erika ; Yokoyama, Yuta ; Yanagawa, Hayato ; Or, Keung ; Sugano, Shigeki. / Using contact-based inducement for efficient navigation in a congested environment. Proceedings - IEEE International Workshop on Robot and Human Interactive Communication. Vol. 2015-November Institute of Electrical and Electronics Engineers Inc., 2015. pp. 456-461
    @inproceedings{950dd579f8584b6497a9034697e2616d,
    title = "Using contact-based inducement for efficient navigation in a congested environment",
    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.",
    author = "Shrestha, {Moondeep Chandra} and Yosuke Nohisa and Alexander Schmitz and Shouichi Hayakawa and Erika Uno and Yuta Yokoyama and Hayato Yanagawa and Keung Or and Shigeki Sugano",
    year = "2015",
    month = "11",
    day = "20",
    doi = "10.1109/ROMAN.2015.7333673",
    language = "English",
    isbn = "9781467367042",
    volume = "2015-November",
    pages = "456--461",
    booktitle = "Proceedings - IEEE International Workshop on Robot and Human Interactive Communication",
    publisher = "Institute of Electrical and Electronics Engineers Inc.",

    }

    TY - GEN

    T1 - Using contact-based inducement for efficient navigation in a congested environment

    AU - Shrestha, Moondeep Chandra

    AU - Nohisa, Yosuke

    AU - Schmitz, Alexander

    AU - Hayakawa, Shouichi

    AU - Uno, Erika

    AU - Yokoyama, Yuta

    AU - Yanagawa, Hayato

    AU - Or, Keung

    AU - Sugano, Shigeki

    PY - 2015/11/20

    Y1 - 2015/11/20

    N2 - 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.

    AB - 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.

    UR - http://www.scopus.com/inward/record.url?scp=84954041559&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=84954041559&partnerID=8YFLogxK

    U2 - 10.1109/ROMAN.2015.7333673

    DO - 10.1109/ROMAN.2015.7333673

    M3 - Conference contribution

    AN - SCOPUS:84954041559

    SN - 9781467367042

    VL - 2015-November

    SP - 456

    EP - 461

    BT - Proceedings - IEEE International Workshop on Robot and Human Interactive Communication

    PB - Institute of Electrical and Electronics Engineers Inc.

    ER -