Using contact-based inducement for efficient navigation in a congested environment

Moondeep C. Shrestha, Yosuke Nohisa, Alexander Schmitz, Shouichi Hayakawa, Erika Uno, Yuta Yokoyama, Hayato Yanagawa, Keung Or, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

As robots progressively continue to enter human lives, it becomes important for robots to navigate safely and efficiently in crowded environments. In fact, efficient navigation in crowded areas is an important prerequisite for successful coexistence between humans and robots. In this paper, we explore an unconventional idea wherein a robot tries to achieve a more efficient navigation by influencing an obstructing human to move away by means of contact. First, preliminary human reaction experiments were conducted wherein we established that we can successfully induce a human to move in a desired direction. Following this result, we have proposed a novel motion planning approach which considers inducement by contact. The system is then verified through simulation and real experiments. The results show us that the proposed method can be utilized for safer and more efficient navigation in a crowded, but relatively static environment.

Original languageEnglish
Title of host publicationRO-MAN 2015 - 24th IEEE International Symposium on Robot and Human Interactive Communication, Symposium Digest
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages456-461
Number of pages6
ISBN (Electronic)9781467367042
DOIs
Publication statusPublished - 2015 Nov 20
Event24th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2015 - Kobe, Japan
Duration: 2015 Aug 312015 Sept 4

Publication series

NameProceedings - IEEE International Workshop on Robot and Human Interactive Communication
Volume2015-November

Other

Other24th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2015
Country/TerritoryJapan
CityKobe
Period15/8/3115/9/4

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Human-Computer Interaction
  • Computer Vision and Pattern Recognition

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