Robot path planning in a social context

Human robot interaction has attracted significant attention over the last couple of years. An important aspect of such robotic systems is to share the working space with humans and carry out the tasks in a socially acceptable way. In this paper, we address the problem of fusing socially acceptable b...

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Main Authors: Sehestedt, S, Kodagoda, S, Dissanayake, G
Format: Conference Object
Language:unknown
Published: 2010
Subjects:
Orca
Online Access:http://hdl.handle.net/10453/16363
id ftunivtsydney:oai:opus.lib.uts.edu.au:10453/16363
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spelling ftunivtsydney:oai:opus.lib.uts.edu.au:10453/16363 2023-05-15T17:53:41+02:00 Robot path planning in a social context Sehestedt, S Kodagoda, S Dissanayake, G 2010-08-23 application/pdf http://hdl.handle.net/10453/16363 unknown 2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010 10.1109/RAMECH.2010.5513126 2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010, 2010, pp. 206 - 211 9781424465033 http://hdl.handle.net/10453/16363 Conference Proceeding 2010 ftunivtsydney 2022-03-13T13:52:56Z Human robot interaction has attracted significant attention over the last couple of years. An important aspect of such robotic systems is to share the working space with humans and carry out the tasks in a socially acceptable way. In this paper, we address the problem of fusing socially acceptable behaviours into robot path planning. By observing an environment for a while, the robot learns human motion patterns based on sampled Hidden Markov Models and utilises them in a Probabilistic Roadmap based path planning algorithm. This will minimise the social distractions, such as going through someone else's working space (due to the shortest path), by planning the path through minimal distractions, leading to human-like behaviours. The algorithm is implemented in Orca/C++ with appealing results in real world experiments. ©2010 IEEE. Conference Object Orca University of Technology Sydney: OPUS - Open Publications of UTS Scholars
institution Open Polar
collection University of Technology Sydney: OPUS - Open Publications of UTS Scholars
op_collection_id ftunivtsydney
language unknown
description Human robot interaction has attracted significant attention over the last couple of years. An important aspect of such robotic systems is to share the working space with humans and carry out the tasks in a socially acceptable way. In this paper, we address the problem of fusing socially acceptable behaviours into robot path planning. By observing an environment for a while, the robot learns human motion patterns based on sampled Hidden Markov Models and utilises them in a Probabilistic Roadmap based path planning algorithm. This will minimise the social distractions, such as going through someone else's working space (due to the shortest path), by planning the path through minimal distractions, leading to human-like behaviours. The algorithm is implemented in Orca/C++ with appealing results in real world experiments. ©2010 IEEE.
format Conference Object
author Sehestedt, S
Kodagoda, S
Dissanayake, G
spellingShingle Sehestedt, S
Kodagoda, S
Dissanayake, G
Robot path planning in a social context
author_facet Sehestedt, S
Kodagoda, S
Dissanayake, G
author_sort Sehestedt, S
title Robot path planning in a social context
title_short Robot path planning in a social context
title_full Robot path planning in a social context
title_fullStr Robot path planning in a social context
title_full_unstemmed Robot path planning in a social context
title_sort robot path planning in a social context
publishDate 2010
url http://hdl.handle.net/10453/16363
genre Orca
genre_facet Orca
op_relation 2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010
10.1109/RAMECH.2010.5513126
2010 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2010, 2010, pp. 206 - 211
9781424465033
http://hdl.handle.net/10453/16363
_version_ 1766161392566534144

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