People's V-Formation and Side-by-Side Model Adapted to Accompany Groups of People by Social Robots

Ely Repiso, Francesco Zanlungo, Takayuki Kanda, Anais Garrell, Alberto Sanfeliu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper presents a new method to allow robots to accompany a person or a group of people imitating pedestrians behavior. Two-people groups usually walk in a side-by-side formation and three-people groups walk in a V-formation so that they can see each other. For this reason, the proposed method combines a Side-by-side and V-formation pedestrian model with the Anticipative Kinodynamic Planner (AKP). Combining these methods, the robot is able to do an anticipatory accompaniment of groups of humans, as well as to avoid static and dynamic obstacles in advance, while keeping the prescribed formations. The proposed framework allows also a dynamical re-positioning of the robot, if the physical position of the partners change in the group formation. Furthermore, people have a randomness factor that the robot has to manage, for that reason, the system was adapted to deal with changes in people's velocity, orientation and occlusions. Finally, the method has been validated using synthetic experiments and real-life experiments with our Tibi robot. In addition, a user study has been realized to reveal the social acceptability of the method.

Original languageEnglish
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2082-2088
Number of pages7
ISBN (Electronic)9781728140049
DOIs
Publication statusPublished - Nov 2019
Externally publishedYes
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: Nov 3 2019Nov 8 2019

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Country/TerritoryChina
CityMacau
Period11/3/1911/8/19

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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