Service interruption on Monday 11 July from 12:30 to 13:00: all the sites of the CCSD (HAL, Epiciences, SciencesConf, AureHAL) will be inaccessible (network hardware connection).
Skip to Main content Skip to Navigation
Conference papers

Evaluating directional cost models in navigation

Abstract : A common approach to social distancing in robot navigation are spatial cost functions around humans that cause the robot to prefer paths that do not come too close to humans. However, in unpredictably dynamic scenarios, following such paths may produce robot behavior that appears confused. The concept of directional costs in cost functions [9] is supposed to alleviate this problem without incurring the problem of combinatorial explosions using temporal planning. With directional cost functions, a robot attempts to solve spatial conflicts by adjusting the velocity instead of the path, where possible. To complement results from simulations, in this paper we describe a user study we conducted with a PR2 robot and human participants to evaluate the new cost function type. The study shows that the real robot behavior is similar to the observations in simulation, and that participants rate the robot behavior less confusing with the adapted cost model. The study also shows other important behavior cues that can influence motion legibility.
Document type :
Conference papers
Complete list of metadata

Cited literature [21 references]  Display  Hide  Download
Contributor : Harmish Khambhaita Connect in order to contact the contributor
Submitted on : Tuesday, July 25, 2017 - 6:52:16 PM
Last modification on : Monday, July 4, 2022 - 9:14:31 AM


Files produced by the author(s)



Thibault Kruse, Alexandra Kirsch, Harmish Khambhaita, Rachid Alami. Evaluating directional cost models in navigation. Proc. ACM/IEEE International Conference on Human-Robot Interaction (HRI), Mar 2014, Bielefeld, Germany. pp.350 - 357, ⟨10.1145/2559636.2559662⟩. ⟨hal-01568842⟩



Record views


Files downloads