Navigation in the presence of humans
Sisbot, E.A.; Alami, R.; Simeon, T.; Dautenhahn, K.; Walters, M.L.; Woods, S.; Koay, K.L.; Nehaniv, C.L.
Citation: Sisbot , E A , Alami , R , Simeon , T , Dautenhahn , K , Walters , M L , Woods , S , Koay , K L & Nehaniv , C L 2005 , ' Navigation in the presence of humans ' . in Humanoid Robots, 2005 5th IEEE-RAS International Conference . IEEE , pp. 181-188 .
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.
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