Who is the leader in a multiperson ensemble? - Multiperson human-robot ensemble model with leaderness - Multiperson h

Takeshi Mizumoto, Tetsuya Ogata, Hiroshi G. Okuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents a state space model for a multiperson ensemble and an estimation method of the onset timings, tempos, and leaders. In a multiperson ensemble, determining one explicit leader is difficult because (1) participants' rhythms are mutually influenced and (2) they compete with each other. Most ensemble studies however assumed that one leader exists at a time and the others just follow the leader. To deal with the multiple and time-varying leaders, we define leaderness indicating the power to influence the others as the product of the tempo stability and the distance from the ensemble tempo. This definition means that a leader should have a strong desire to change the current tempo. Using the leaderness, we present a state space model of a multiperson ensemble and an unscented Kalman filter based estimation method. The model consists of the leaderness update, the ensemble tempo update, the individual tempo update, and the onset timing adaptation, each of which has a relationship to psychological results of an ensemble. We evaluate our method using simulation and human behavior. The simulation results show that our model is stable for various initial tempos and the number of participants. For the human behavior, pairs and triads of participants are asked to tap keys in synchronization with the others. The results show that the leaderness successfully indicate the dynamics of the leaders, and the onset errors are 181msec and 241msec for pairs and triads on average, respectively, which are comparable to those of humans (153msec and 227msec for pairs and triads, respectively.)

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages1413-1419
Number of pages7
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve
Duration: 2012 Oct 72012 Oct 12

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CityVilamoura, Algarve
Period12/10/712/10/12

Fingerprint

Robots
Kalman filters
Synchronization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Who is the leader in a multiperson ensemble? - Multiperson human-robot ensemble model with leaderness - Multiperson h. / Mizumoto, Takeshi; Ogata, Tetsuya; Okuno, Hiroshi G.

IEEE International Conference on Intelligent Robots and Systems. 2012. p. 1413-1419 6385782.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Mizumoto, T, Ogata, T & Okuno, HG 2012, Who is the leader in a multiperson ensemble? - Multiperson human-robot ensemble model with leaderness - Multiperson h. in IEEE International Conference on Intelligent Robots and Systems., 6385782, pp. 1413-1419, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, 12/10/7. https://doi.org/10.1109/IROS.2012.6385782
Mizumoto, Takeshi ; Ogata, Tetsuya ; Okuno, Hiroshi G. / Who is the leader in a multiperson ensemble? - Multiperson human-robot ensemble model with leaderness - Multiperson h. IEEE International Conference on Intelligent Robots and Systems. 2012. pp. 1413-1419
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