Publication
Model validation: robot behavior in people guidance mission using DTM model and estimation of human motion behavior
Conference Article
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Edition
2010
Pages
5836-5841
Doc link
http://dx.doi.org/10.1109/IROS.2010.5651685
File
Abstract
This paper describes the process of modeling and validation by simulation that have been used to explore the new possibilities of interaction when humans are guided by teams of robots that work cooperatively in urban areas. The model used in the simulation process is called Discrete Time Motion model (DTM) described in [8], where the environment is modeled using a set of potential fields, and people’s motion is represented through tension functions. For the validation process a sequence of recordings were performed in Barcelona Robot Lab, where the behavior of a group of people when they are driven in urban areas was represented, moreover, positions and velocities of the group were stored in the different sequences and were compared with the behavior of the extracted DTM model. Finally, we checked the proper functioning of the model by studying the error in different scenes and diverse situations.
Categories
mobile robots, multi-robot systems, robots, service robots.
Scientific reference
A. Garrell Zulueta and A. Sanfeliu. Model validation: robot behavior in people guidance mission using DTM model and estimation of human motion behavior, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, Taipei, Taiwan, pp. 5836-5841, IEEE.
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