An Autonomous Proxemic System for a Mobile Companion Robot

Mohammedreza Asghari Oskoei, Michael Walters, K. Dautenhahn

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

9 Citations (Scopus)
233 Downloads (Pure)


This paper presents an Autonomous Proxemic
System (APS) for a mobile robot. It detects people in the
surroundings and manipulates the robot’s motions to approach
them keeping an acceptable proxemic distance. The APS sensing
functions include face and upper body detection, leg detection,
and motion detection using camera, laser, and infra-red sensors
respectively. The control functions consist of approach a human
and obstacle avoidance. APS uses the sonar and laser range
devices to keep an accurate proxemic distance with the human.
Initial system tests indicate that the APS keeps desired proxemic
distances to within an acceptable error margin
Original languageEnglish
Title of host publicationProceedings of the AISB 2010 Symposium on New Frontiers for Human Robot Interaction
PublisherThe Society for the Study of Artificial Intelligence and the Simulation of Behaviour (AISB)
Publication statusPublished - 2010


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