Human-aware robot motion planning with velocity constraints

2008 International Symposium on Collaborative Technologies and Systems, CTS'08

Volumn , Issue , 2008, Pages 490-497

  Shi, Dongqing ^a   Collins Jr , Emmanuel G ^a   Donate, Arturo ^b   Liu, Xiuwen ^b   Goldiez, Brian ^c   Dunlap, Damion ^d  

^a FLORIDA STATE UNIVERSITY   (United States)

^b Florida State University   (United States)

^c UNIVERSITY OF CENTRAL FLORIDA   (United States)

^d FAMU FSU COLLEGE OF ENGINEERING   (United States)

Author keywords

Human aware motion planning; Human detection; Human response

Indexed keywords

PLANNING;

HUMAN AWARE MOTION PLANNING; HUMAN DETECTION; HUMAN RESPONSE; VELOCITY CONSTRAINTS;

ROBOTS;

EID: 50949121375     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CTS.2008.4543969     Document Type: Conference Paper

References (33)

1. E. Prassler, G. Lawitzky, A. Stopp, G. Grunwald, M. Hagele, R. Dillmann, and L. Lossifidis, Advances in Human-Robot Interaction. Springer, 2004.
2. R. Murphy and E. Rogers, "Human-robot interaction: Final report for darpa/nsf study human-robot interaction," http://www.csc.calpoly.edu/ ~erogers/HRI/HRI-report-final.html, 2001.
3. C. L. Breazeal, Designing Sociable Robots. The MIT Press, 2002.
4. Honda, "Asimo," http://www.honda-robots. com/english/html/ asimo/frameset2.html, 2007.
5. P. Althaus, H. Ishigurot, T. Kandat, T. Miyashitat, and H. I. Christensen, "Navigation for human-robot interaction tasks," in IEEE International Conference on Robotics and Automation, 2004, pp. 1894-1900.
6. E. A. Sisbot, R. Alami, T. Simeon, K. Dautenhahn, M. Walters, S. Woods, K. L. Koay, and C. Nehaniv, "Navigation in the presence of humans," in 5th IEEERAS International Conference on Humanoid Robots, 2005, pp. 181-188.
7. E. A. Sisbot, L. F. Marin, R. Alami, and T. Simeon, "A mobile robot that performs human acceptable motions," in IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, pp. 1811-1816.
8. H. Choset, K. M. Lynch, S. Hutchinson, G. Kantor, W. Burgard, L. E. Kavraki, and S. Thrun, Principles of Robot Motion. Cambridge, MA: MIT Press, 2005.
9. S. M. LaValle, Planning Algorithms. New York: Cambridge Univesity Press, 2006.
10. E. A. Sisbot, L. F. Marin, R. Alami, and T. Simeon, "A human aware mobile robot motion planner," IEEE Transactions on Robotics, vol. 23, no. 5, pp. 874-883, 2007.
11. B. P. Gerkey, R. T. Vaughan, K. Stoy, A. Howard, G. S. Sukhatme, and M. J. Mataric, "Most valuable player: A robot device server for distributed control," in IEEE/RSJ International Conference on Intelligent Robots and Systems, Hawaii, 2001, pp. 1226-1231.
12. P. Borkenau, "How accurate are judgements of intelligence by strangers?" in the Annual Meeting of the American Psychological Association, 1993, pp. 1894-1900.
13. B. R. Duffy, "Anthropomorphism and the social robot," Robotics and Autonomous Systems, vol. 42, pp. 177-190, 2003.
14. S. Kiesler and J. Goetz, "Mental models of robotic assistants," in Conference on Human Factors in Computing Systems, Minneapolis, MN, April, 2002, pp. 576-577.
15. K. F. MacDorman, T. Minato, M. Shimada, S. Itakura, S. Cowley, and H. Ishiguro, "Assessing human likeness by eye contact in an android testbed," http://data.cstr.edu.ac.uk/internal/library/proceedings/2005/ cogsci2005/docs/p.1373.pdf, 2005.
16. H. S. Smith, V. K. Sims, M. G. Chin, L. U. Ellise, D. J. Sushi, M. Velie, R. Shumaker, and N. Finkelstei, "Evidence for the use of minimal anthropomorphic features in attributions for automobiles," in the Human Factors and Ergonomics Society 51st Annual Meeting, Baltimore, MD, 2007, pp. 1101-1104.
17. D. D. Dunlap, E. G. Collins, and C. V. Caldwell, "Nonlinear model predictive control via sampling and goal oriented optimization," 2008, submitted to 47th IEEE Conference on Decision and Control, availabe at http://www.eng.fsu.edu/ciscor/publications.htm.
18. E. F. Camacho and C. Bordons, Model Predictive Control, 2nd ed. New York: Springer, 2004.
19. B. Kouvaritakis and M. Cannon, Eds., Nonlinear Predictive Contro: Theory and Practice. London, United Kingdom: The Institution of Electrical Engineers, 2001.
20. J. M. Maciejowski, Predictive Control with Constraints. Prentice Hall, 2002.
21. J. A. Rossiter, Model-Based Predictive Control: A Practical Approach. CRC Press, 2003.
22. M. H. Yang, D. Kriegman, and N. Ahuja, "Detecting faces in images: a survey," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 24, no. 1, pp. 34-58, 2002.
23. P. Viola and M. J. Jones, "Robust real-time face detection," International Journal of Computer Vision, vol. 57, no. 2, pp. 137-154, 2004.
24. R. M. noz Salinas, E. Aguirre, M. García-Silvente, and A. Gonzalez, Lectures Notes on Artificial Intelligence. Springer, 2005, vol. 3789, ch. People Detection and Tracking through Stereo Vision for Human-Robot Interaction, pp. 337-346.
25. L. Zhao and C. Thorpe, "Stereo and neural network-based pedestrian detection," IEEE Transactions on Intelligent Transportation Systems, vol. 1, no. 3, pp. 148-154, 2000.
26. W. Abd-Almageed, B. J. Burns, and L. S. Davis, "Identifying and segmenting human-motion for mobile robot navigation using alignment errors," in Proceedings of the 12th International Conference on Advanced Robotics, 2005, pp. 398-403.
27. D. M. Gavrila, "The visual analysis of human movement: A survey," Computer Vision and Image Understanding, vol. 73, no. 1, pp. 82-98, 1999.
28. H. W. W. Liang and L. Tieniu, "Recent developments in human motion analysis," Pattern Recognition, vol. 36, pp. 585-601, 2003.
29. W. Hu, T. Tan, L. Wang, and S. Maybank, "A survey on visual surveillance of object motion and behaviors," IEEE Transactions on Systems, Man and Cybernetics, Part C: Applications and Reviews, vol. 34, no. 3, pp. 334-352, 2004.
30. C. M. L. Snidaro and C. Chiavedale, "Video security for ambient intelligence," IEEE Transactions on Systems, Man and Cybernetics, Part A, pp. 133-144, 2005.
31. R. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, 2nd ed. Cambridge University Press, 2003.
32. Y. Ma, S. Soatto, J. Košecká, and S. S. Sastry, An Invitation to 3-D Vision: From Images to Geometric Models. Springer, 2004.
33. Y. Wang, A. Donate, and X. Liu, "Efficient subpixel path-based matching for stereo reconstruction," Department of Computer Science, Florida State University, Tech. Rep., 2007, available at http://fsvision.fsu. edu/publications/report-ind.html.