Navigation in the presence of humans

E.A. Sisbot; R. Alami; T. Simeon; K. Dautenhahn; M.L. Walters; S. Woods; K.L. Koay; C.L. Nehaniv

doi:10.1109/ICHR.2005.1573565

Navigation in the presence of humans

E.A. Sisbot, R. Alami, T. Simeon, K. Dautenhahn, M.L. Walters, S. Woods, K.L. Koay, C.L. Nehaniv

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

62 Citations (Scopus)

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Abstract

Robot navigation in the presence of humans raises new issues for motion planning and control since the humans safety and comfort must be taken explicitly into account. We claim that a human-aware motion planner must not only elaborate safe robot paths, but also plan good, socially acceptable and legible paths. Our aim is to build a planner that takes explicitly into account the human partner by reasoning about his accessibility, his vision field and potential shared motions. This paper focuses on a navigation planner that takes into account the humans existence explicitly. This planner is part of a human-aware motion and manipulation planning and control system that we aim to develop in order to achieve motion and manipulation tasks in a collaborative way with the human. We are conducting research in a multidisciplinary perspective, (1) running user studies and (2) developing an algorithmic framework able to integrate knowledge acquired through the trials. We illustrate here a first step by implementing a humanfriendly approach motion by the robot.

Original language	English
Title of host publication	Humanoid Robots, 2005 5th IEEE-RAS International Conference
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	181-188
ISBN (Print)	0-7803-9320-1
DOIs	https://doi.org/10.1109/ICHR.2005.1573565
Publication status	Published - 2005

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title = "Navigation in the presence of humans",

abstract = "Robot navigation in the presence of humans raises new issues for motion planning and control since the humans safety and comfort must be taken explicitly into account. We claim that a human-aware motion planner must not only elaborate safe robot paths, but also plan good, socially acceptable and legible paths. Our aim is to build a planner that takes explicitly into account the human partner by reasoning about his accessibility, his vision field and potential shared motions. This paper focuses on a navigation planner that takes into account the humans existence explicitly. This planner is part of a human-aware motion and manipulation planning and control system that we aim to develop in order to achieve motion and manipulation tasks in a collaborative way with the human. We are conducting research in a multidisciplinary perspective, (1) running user studies and (2) developing an algorithmic framework able to integrate knowledge acquired through the trials. We illustrate here a first step by implementing a humanfriendly approach motion by the robot.",

author = "E.A. Sisbot and R. Alami and T. Simeon and K. Dautenhahn and M.L. Walters and S. Woods and K.L. Koay and C.L. Nehaniv",

note = "Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.",

year = "2005",

doi = "10.1109/ICHR.2005.1573565",

language = "English",

isbn = "0-7803-9320-1",

pages = "181--188",

booktitle = "Humanoid Robots, 2005 5th IEEE-RAS International Conference",

publisher = "Institute of Electrical and Electronics Engineers (IEEE)",

address = "United States",

}

TY - GEN

T1 - Navigation in the presence of humans

AU - Sisbot, E.A.

AU - Alami, R.

AU - Simeon, T.

AU - Dautenhahn, K.

AU - Walters, M.L.

AU - Woods, S.

AU - Koay, K.L.

AU - Nehaniv, C.L.

N1 - Copyright IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

PY - 2005

Y1 - 2005

N2 - Robot navigation in the presence of humans raises new issues for motion planning and control since the humans safety and comfort must be taken explicitly into account. We claim that a human-aware motion planner must not only elaborate safe robot paths, but also plan good, socially acceptable and legible paths. Our aim is to build a planner that takes explicitly into account the human partner by reasoning about his accessibility, his vision field and potential shared motions. This paper focuses on a navigation planner that takes into account the humans existence explicitly. This planner is part of a human-aware motion and manipulation planning and control system that we aim to develop in order to achieve motion and manipulation tasks in a collaborative way with the human. We are conducting research in a multidisciplinary perspective, (1) running user studies and (2) developing an algorithmic framework able to integrate knowledge acquired through the trials. We illustrate here a first step by implementing a humanfriendly approach motion by the robot.

AB - Robot navigation in the presence of humans raises new issues for motion planning and control since the humans safety and comfort must be taken explicitly into account. We claim that a human-aware motion planner must not only elaborate safe robot paths, but also plan good, socially acceptable and legible paths. Our aim is to build a planner that takes explicitly into account the human partner by reasoning about his accessibility, his vision field and potential shared motions. This paper focuses on a navigation planner that takes into account the humans existence explicitly. This planner is part of a human-aware motion and manipulation planning and control system that we aim to develop in order to achieve motion and manipulation tasks in a collaborative way with the human. We are conducting research in a multidisciplinary perspective, (1) running user studies and (2) developing an algorithmic framework able to integrate knowledge acquired through the trials. We illustrate here a first step by implementing a humanfriendly approach motion by the robot.

U2 - 10.1109/ICHR.2005.1573565

DO - 10.1109/ICHR.2005.1573565

M3 - Conference contribution

SN - 0-7803-9320-1

SP - 181

EP - 188

BT - Humanoid Robots, 2005 5th IEEE-RAS International Conference

PB - Institute of Electrical and Electronics Engineers (IEEE)

ER -

Navigation in the presence of humans

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