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Planning human-aware motions using a sampling-based costmap planner

Jim Mainprice 1 Emrah Akin Sisbot 1 Léonard Jaillet 1 Juan Cortés 1 Rachid Alami 1 Thierry Simeon 1
1 LAAS-RIS - Équipe Robotique et InteractionS
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : This paper addresses the motion planning problem while considering Human-Robot Interaction (HRI) constraints. The proposed planner generates collision-free paths that are acceptable and legible to the human. The method extends our previous work on human-aware path planning to cluttered environments. A randomized cost-based exploration method provides an initial path that is relevant with respect to HRI and workspace constraints. The quality of the path is further improved with a local path-optimization method. Simulation results on mobile manipulators in the presence of humans demonstrate the overall efficacy of the approach.
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Jim Mainprice, Emrah Akin Sisbot, Léonard Jaillet, Juan Cortés, Rachid Alami, et al.. Planning human-aware motions using a sampling-based costmap planner. IEEE International Conference on Robotics and Automation (ICRA 2011), May 2011, Shanghai, China. ⟨10.1109/ICRA.2011.5980048⟩. ⟨hal-01976227⟩



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