Bellotto, Nicola and Hanheide, Marc and Van de Weghe, Nico (2013) Qualitative design and implementation of human-robot spatial interactions. In: International Conference on Social Robotics (ICSR), 27 - 29 October, 2013, Bristol, UK.
Full content URL: http://dx.doi.org/10.1007/978-3-319-02675-6_33
Bellotto2013a.pdf - Whole Document
|Item Type:||Conference or Workshop contribution (Paper)|
|Item Status:||Live Archive|
Despite the large number of navigation algorithms available for mobile robots, in many social contexts they often exhibit inopportune motion behaviours in proximity of people, often with very "unnatural" movements due to the execution of segmented trajectories or the sudden activation of safety mechanisms (e.g., for obstacle avoidance). We argue that the reason of the problem is not only the difficulty of modelling human behaviours and generating opportune robot control policies, but also the way human-robot spatial interactions are represented and implemented.
In this paper we propose a new methodology based on a qualitative representation of spatial interactions, which is both flexible and compact, adopting the well-defined and coherent formalization of Qualitative Trajectory Calculus (QTC). We show the potential of a QTC-based approach to abstract and design complex robot behaviours, where the desired robot's behaviour is represented together with its actual performance in one coherent approach, focusing on spatial interactions rather than pure navigation problems.
|Keywords:||human-robot spatial interaction, qualitative trajectory calculus, social robotics|
|Subjects:||G Mathematical and Computer Sciences > G400 Computer Science|
H Engineering > H671 Robotics
|Divisions:||College of Science > School of Computer Science|
|Deposited On:||16 Aug 2013 14:22|
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