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Human- and Situation-Aware People Following
KTH, School of Computer Science and Communication (CSC), Computer Vision and Active Perception, CVAP. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0002-1170-7162
2007 (English)In: 2007 RO-MAN: 16TH IEEE INTERNATIONAL SYMPOSIUM ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, VOLS 1-3, 2007, 1124-1129 p.Conference paper (Refereed)
Abstract [en]

The paper presents an approach to intelligent, interactive people following for autonomous robots. The approach combines robust methods for simultaneous localization and mapping and for people tracking in order to yield a socially and environmentally sensitive people following behavior. Unlike current purely reactive approaches ("nearest point following") it enables the robot to follow a human in a socially acceptable way, providing verbal and non-verbal feedback to the user where necessary. At the same time, the robot makes use of information about the spatial and functional organization of its environment, so that it can anticipate likely actions performed by a human, and adjust its motion accordingly. As a result, the robot's behaviors become less reactive and more intuitive when following people around an indoor environment. The approach has been fully implemented and tested.

Place, publisher, year, edition, pages
2007. 1124-1129 p.
Keyword [en]
National Category
Computer and Information Science
URN: urn:nbn:se:kth:diva-52875DOI: 10.1109/ROMAN.2007.4415250ISI: 000255993700204ScopusID: 2-s2.0-48749132558ISBN: 978-1-4244-1634-9OAI: diva2:468045
16th IEEE International Symposium on Robot and Human Interactive Communication. Cheju Isl, SOUTH KOREA. AUG 26-29, 2007
QC 20111221Available from: 2011-12-20 Created: 2011-12-20 Last updated: 2011-12-21Bibliographically approved

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