Towards Safer Robot Motion: Using a Qualitative Motion Model to Classify Human-Robot Spatial Interaction

Roberts-Elliott, Laurence, Fernandez-Carmona, Manuel and Hanheide, Marc (2020) Towards Safer Robot Motion: Using a Qualitative Motion Model to Classify Human-Robot Spatial Interaction. In: 21st Towards Autonomous Robotic Systems Conference, 22-24 July 2020, Nottingham, UK.

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Towards Safer Robot Motion: Using a Qualitative Motion Model to Classify Human-Robot Spatial Interaction
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Item Type:Conference or Workshop contribution (Paper)
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Abstract

For adoption of Autonomous Mobile Robots (AMR) across a breadth of industries, they must navigate around humans in a way which is safe and which humans perceive as safe, but without greatly compromising efficiency. This work aims to classify the Human-Robot Spatial Interaction (HRSI) situation of an interacting human and robot, to be applied in Human-Aware Navigation (HAN) to account for situational context. We develop qualitative probabilistic models of relative human and robot movements in various HRSI situations to classify situations, and explain our plan to develop per-situation probabilistic models of socially legible HRSI to predict human and robot movement. In future work we aim to use these predictions to generate qualitative constraints in the form of metric cost-maps for local robot motion planners, enforcing more efficient and socially legible trajectories which are both physically safe and perceived as safe.

Keywords:HRI, HRSI, human-robot interaction, qualitative spatial reasoning, human-aware robot navigation, Hidden Markov models, Classification
Subjects:J Technologies > J960 Transport Logistics
H Engineering > H671 Robotics
G Mathematical and Computer Sciences > G440 Human-computer Interaction
G Mathematical and Computer Sciences > G761 Automated Reasoning
Divisions:College of Science > School of Computer Science
ID Code:40186
Deposited On:08 Jul 2020 12:52

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