Human-Aware Motion Planning for Mobile Robots in Social Encounters

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Formal Metadata

Title
Human-Aware Motion Planning for Mobile Robots in Social Encounters
Author
Rösmann, Christoph
Oeljeklaus, Malte
Hoffmann, Frank
Bertram, Torsten
License
CC Attribution 3.0 Unported:
You are free to use, adapt and copy, distribute and transmit the work or content in adapted or unchanged form for any legal purpose as long as the work is attributed to the author in the manner specified by the author or licensor.
DOI
Publisher
TU Dortmund, Lehrstuhl für Regelungssystemtechnik
Release Date
2014
Language
Silent film
Production Year
2014
Production Place
Dortmund

Content Metadata

Subject Area
Abstract
This video presents the implicitly coordinated motion model (ICMM), a novel motion model for the prediction, planning and coordination of agent trajectories in multi-agent encounters. It explicitly incorporates the social cooperation between humans and mobile robots. Parameters of the ICMM are identified from recorded actual encounters among groups of humans using methods from inverse optimal control. The agents' trajectories are optimized using the Timed-Elastic-Band framework [1,2] considering multiple conflicting objectives such as fastest path, minimal spatial separtion among agents, (kino-)dynamic constraints but also global proxemic aspects such as coherent motion of social groups and a prefered side of passing each other. The recorded dataset contains 73 recorded encounters with up to five humans and a total of 283 individual trajectories. Technical note: the program running in this video has been compiled in debug mode. Compilation with release settings results in a speedup factor of 7. Time-line: 00:09 Parallel trajectory optimization in alternative homotopy classes 00:50 Parallel trajectory optimization with dynamic homotopy class exploration 01:37 TEB selection and implictly coordinated motion model (ICMM) 02:24 Simulations of social encounters 04:11 Using the ICMM on a mobile robot
Keywords
mobile robots
inverse optimal control
social robotics
proxemics
timed elastic band
motion planning
prediction
navigation
Computer animation Ship class
Computer animation Joint Ship of the line Ship class
Computer animation Ship of the line
Pattern (sewing) Computer animation
Voith-Schneider-Propeller Computer animation
Computer animation
Fahrgeschwindigkeit RSD-10 Pioneer Computer animation Finger protocol Cannon
RSD-10 Pioneer
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Timings

  326 ms - page object

Version

AV-Portal 3.9.1 (0da88e96ae8dbbf323d1005dc12c7aa41dfc5a31)