Publication
Cooperative robots in people guidance mission: DTM model validation and local optimization motion
Conference Article
Conference
IROS Workshop on Network Robot Systems (IROS NRS)
Edition
2010
Pages
1-34
Doc link
http://www.irc.atr.jp/iros10_nrs_workshop/
File
Abstract
This work presents a novel approach for optimizing locally the work of cooperative robots and obtaining the minimum displacement of humans in a guiding people mission. This 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. Furthermore, an analysis
of forces actuating among robots and humans is presented throughout simulations of different situations of robot and human configurations and behaviors. Finally, we describe 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.
Categories
mobile robots, multi-robot systems, service robots.
Scientific reference
A. Garrell Zulueta and A. Sanfeliu. Cooperative robots in people guidance mission: DTM model validation and local optimization motion, 2010 IROS Workshop on Network Robot Systems, 2010, Taipei, Taiwan, in An Approach for Human Robot Interaction, pp. 1-34, IEEE.
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