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A human aware mobile robot motion planner

delete2007-10-01
delete329
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OA
AI
E
Emrah Akin Sisbot *
L
Luis F. Marín-Urías
R
Rachid Alami
T
Thierry Siméon
DOI：10.1109/TRO.2007.904911delete
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Abstract

Abstract

En 中文
Robot navigation in the presence of humans raises new issues for motion planning and control when the humans must be taken explicitly into account. We claim that a human aware motion planner (HAMP) must not only provide safe robot paths, but also synthesize good, socially acceptable and legible paths. This paper focuses on a motion planner that takes explicitly into account its human partners by reasoning about their accessibility, their vision field and their preferences in terms of relative human-robot placement and motions in realistic environments. 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 the presence or in synergy with humans.
Keywords:
human-robot interaction (HRI)
motion planning
social interaction

Journal

IEEE Transactions on Robotics cover
IEEE Transactions on Robotics
IF:
10.5
Papers:
3.3K
Citations:
2.8W

Organization

No organization information available