Publication
Local optimization of cooperative robot movements for guiding and regrouping people in a guiding mission
Conference Article
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Edition
2010
Pages
3294-3299
Doc link
http://dx.doi.org/10.1109/IROS.2010.5649009
File
Abstract
This article presents a novel approach for optimizing locally the work of cooperative robots and obtaining the minimum displacement of humans in a guiding people mission. Unlike other methods, we consider situations where individuals can move freely and can escape from the formation, moreover they must be regrouped by multiple mobile robots working cooperatively. The problem is addressed by introducing a “Discrete Time Motion” model (DTM) and a new cost function that minimizes the work required by robots for leading and regrouping people. The guiding mission is carried out in urban areas containing multiple obstacles and building constraints. Furthermore, an analysis of forces actuating among robots and humans is presented throughout simulations of different situations of robot and human configurations and behaviors.
Categories
mobile robots, multi-robot systems, service robots.
Scientific reference
A. Garrell Zulueta and A. Sanfeliu. Local optimization of cooperative robot movements for guiding and regrouping people in a guiding mission, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, Taipei, Taiwan, pp. 3294-3299, IEEE.
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