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An Approach to Socially Compliant Leader Following for Mobile Robots
Markus Kuderer and Wolfram Burgard
Social Robotics
2014
kuderer14icsr.pdf
Notes:
Mobile robots are envisioned to provide more and more services
in a shared environment with humans. A wide range of such tasks
demand that the robot follows a human leader, including robotic coworkers
in factories, autonomous shopping carts or robotic wheelchairs
that autonomously navigate next to an accompanying pedestrian. Many
authors proposed follow-the-leader approaches for mobile robots, which
have also been applied to the problem of following pedestrians. Most
of these approaches use local control methods to keep the robot at the
desired position. However, they typically do not incorporate information
about the natural navigation behavior of humans, who strongly interact
with their environment. In this paper, we propose a learned, predictive
model of interactive navigation behavior that enables a mobile robot to
predict the trajectory of its leader and to compute a far-sighted plan
that keeps the robot at its desired relative position. Extensive experiments
in simulation as well as with a real robotic wheelchair suggest
that our method outperforms state-of-the-art methods for following a
human leader in wide variety of situations.
BibTeX:
@inproceedings{kuderer14icsr,
author = {Markus Kuderer and Wolfram Burgard},
title = {An Approach to Socially Compliant Leader Following for Mobile Robots},
booktitle = {Social Robotics},
volume = {8755},
pages = {239-248},
year = 2014,
doi = {10.1007/978-3-319-11973-1_24},
url = {http://ais.informatik.uni-freiburg.de/publications/papers/kuderer14icsr.pdf},
publisher = {Springer International Publishing},
series = {Lecture Notes in Computer Science}
}
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