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Navigation in the presence of humans

Abstract : Robot navigation in the presence of humans raises new issues for motion planning and control since the humans safety and comfort must be taken explicitly into account. We claim that a human-aware motion planner must not only elaborate safe robot paths, but also plan good, socially acceptable and legible paths. Our aim is to build a planner that takes explicitly into account the human partner by reasoning about his accessibility, his vision field and potential shared motions. This paper focuses on a navigation planner that takes into account the humans existence explicitly. This planner is part of a human-aware motion and manipulation planning and control system that we aim to develop in order to achieve motion and manipulation tasks in a collaborative way with the human. We are conducting research in a multidisciplinary perspective, (1) running user studies and (2) developing an algorithmic framework able to integrate knowledge acquired through the trials. We illustrate here a first step by implementing a human-friendly approach motion by the robot.
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https://hal.laas.fr/hal-01976196
Contributor : Rachid Alami <>
Submitted on : Friday, January 11, 2019 - 7:41:15 PM
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Emrah Akin Sisbot, Rachid Alami, Thierry Simeon, Kerstin Dautenhahn, Michael Walters, et al.. Navigation in the presence of humans. 5th IEEE-RAS International Conference on Humanoid Robots, Dec 2005, Tsukuba, Japan. ⟨10.1109/ICHR.2005.1573565⟩. ⟨hal-01976196⟩

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