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

    研究成果: Conference contribution

    5 被引用数 (Scopus)

    抄録

    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.

    本文言語English
    ホスト出版物のタイトルProceedings - IEEE International Workshop on Robot and Human Interactive Communication
    出版社Institute of Electrical and Electronics Engineers Inc.
    ページ456-461
    ページ数6
    2015-November
    ISBN(印刷版)9781467367042
    DOI
    出版ステータスPublished - 2015 11 20
    イベント24th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2015 - Kobe, Japan
    継続期間: 2015 8 312015 9 4

    Other

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

    ASJC Scopus subject areas

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

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