Person-Following Controller with Socially Acceptable Robot Motion
This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a m...
Ausführliche Beschreibung
Gespeichert in:
| Autor*in: |
Montesdeoca, Julio [verfasserIn] |
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| Format: |
E-Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2022transfer abstract |
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| Schlagwörter: |
Human–robot interactive communication Human–robot social interaction |
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| Übergeordnetes Werk: |
Enthalten in: Comparison of LI-RADS with other non-invasive liver MRI criteria and radiological opinion for diagnosing hepatocellular carcinoma in cirrhotic livers using gadoxetic acid with histopathological explant correlation - Clarke, C.G.D. ELSEVIER, 2021, international journal, Amsterdam [u.a.] |
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| Übergeordnetes Werk: |
volume:153 ; year:2022 ; pages:0 |
| Links: |
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| DOI / URN: |
10.1016/j.robot.2022.104075 |
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| 245 | 1 | 0 | |a Person-Following Controller with Socially Acceptable Robot Motion |
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| 520 | |a This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera’s field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion. | ||
| 520 | |a This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera’s field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion. | ||
| 650 | 7 | |a Human–robot interactive communication |2 Elsevier | |
| 650 | 7 | |a Human–robot social interaction |2 Elsevier | |
| 650 | 7 | |a Motion human-aware robot navigation |2 Elsevier | |
| 650 | 7 | |a Person-following control |2 Elsevier | |
| 650 | 7 | |a Socially acceptable robot motion |2 Elsevier | |
| 700 | 1 | |a Toibero, J. Marcos |4 oth | |
| 700 | 1 | |a Jordan, Julian |4 oth | |
| 700 | 1 | |a Zell, Andreas |4 oth | |
| 700 | 1 | |a Carelli, Ricardo |4 oth | |
| 773 | 0 | 8 | |i Enthalten in |n Elsevier |a Clarke, C.G.D. ELSEVIER |t Comparison of LI-RADS with other non-invasive liver MRI criteria and radiological opinion for diagnosing hepatocellular carcinoma in cirrhotic livers using gadoxetic acid with histopathological explant correlation |d 2021 |d international journal |g Amsterdam [u.a.] |w (DE-627)ELV00580583X |
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10.1016/j.robot.2022.104075 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001759.pica (DE-627)ELV05757992X (ELSEVIER)S0921-8890(22)00037-9 DE-627 ger DE-627 rakwb eng 610 VZ 44.64 bkl Montesdeoca, Julio verfasserin aut Person-Following Controller with Socially Acceptable Robot Motion 2022transfer abstract nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera’s field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion. This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera’s field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion. Human–robot interactive communication Elsevier Human–robot social interaction Elsevier Motion human-aware robot navigation Elsevier Person-following control Elsevier Socially acceptable robot motion Elsevier Toibero, J. Marcos oth Jordan, Julian oth Zell, Andreas oth Carelli, Ricardo oth Enthalten in Elsevier Clarke, C.G.D. ELSEVIER Comparison of LI-RADS with other non-invasive liver MRI criteria and radiological opinion for diagnosing hepatocellular carcinoma in cirrhotic livers using gadoxetic acid with histopathological explant correlation 2021 international journal Amsterdam [u.a.] (DE-627)ELV00580583X volume:153 year:2022 pages:0 https://doi.org/10.1016/j.robot.2022.104075 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OLC-PHA 44.64 Radiologie VZ AR 153 2022 0 |
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10.1016/j.robot.2022.104075 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001759.pica (DE-627)ELV05757992X (ELSEVIER)S0921-8890(22)00037-9 DE-627 ger DE-627 rakwb eng 610 VZ 44.64 bkl Montesdeoca, Julio verfasserin aut Person-Following Controller with Socially Acceptable Robot Motion 2022transfer abstract nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera’s field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion. This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera’s field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion. Human–robot interactive communication Elsevier Human–robot social interaction Elsevier Motion human-aware robot navigation Elsevier Person-following control Elsevier Socially acceptable robot motion Elsevier Toibero, J. Marcos oth Jordan, Julian oth Zell, Andreas oth Carelli, Ricardo oth Enthalten in Elsevier Clarke, C.G.D. ELSEVIER Comparison of LI-RADS with other non-invasive liver MRI criteria and radiological opinion for diagnosing hepatocellular carcinoma in cirrhotic livers using gadoxetic acid with histopathological explant correlation 2021 international journal Amsterdam [u.a.] (DE-627)ELV00580583X volume:153 year:2022 pages:0 https://doi.org/10.1016/j.robot.2022.104075 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OLC-PHA 44.64 Radiologie VZ AR 153 2022 0 |
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10.1016/j.robot.2022.104075 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001759.pica (DE-627)ELV05757992X (ELSEVIER)S0921-8890(22)00037-9 DE-627 ger DE-627 rakwb eng 610 VZ 44.64 bkl Montesdeoca, Julio verfasserin aut Person-Following Controller with Socially Acceptable Robot Motion 2022transfer abstract nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera’s field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion. This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera’s field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion. Human–robot interactive communication Elsevier Human–robot social interaction Elsevier Motion human-aware robot navigation Elsevier Person-following control Elsevier Socially acceptable robot motion Elsevier Toibero, J. Marcos oth Jordan, Julian oth Zell, Andreas oth Carelli, Ricardo oth Enthalten in Elsevier Clarke, C.G.D. ELSEVIER Comparison of LI-RADS with other non-invasive liver MRI criteria and radiological opinion for diagnosing hepatocellular carcinoma in cirrhotic livers using gadoxetic acid with histopathological explant correlation 2021 international journal Amsterdam [u.a.] (DE-627)ELV00580583X volume:153 year:2022 pages:0 https://doi.org/10.1016/j.robot.2022.104075 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OLC-PHA 44.64 Radiologie VZ AR 153 2022 0 |
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10.1016/j.robot.2022.104075 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001759.pica (DE-627)ELV05757992X (ELSEVIER)S0921-8890(22)00037-9 DE-627 ger DE-627 rakwb eng 610 VZ 44.64 bkl Montesdeoca, Julio verfasserin aut Person-Following Controller with Socially Acceptable Robot Motion 2022transfer abstract nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera’s field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion. This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera’s field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion. Human–robot interactive communication Elsevier Human–robot social interaction Elsevier Motion human-aware robot navigation Elsevier Person-following control Elsevier Socially acceptable robot motion Elsevier Toibero, J. Marcos oth Jordan, Julian oth Zell, Andreas oth Carelli, Ricardo oth Enthalten in Elsevier Clarke, C.G.D. ELSEVIER Comparison of LI-RADS with other non-invasive liver MRI criteria and radiological opinion for diagnosing hepatocellular carcinoma in cirrhotic livers using gadoxetic acid with histopathological explant correlation 2021 international journal Amsterdam [u.a.] (DE-627)ELV00580583X volume:153 year:2022 pages:0 https://doi.org/10.1016/j.robot.2022.104075 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OLC-PHA 44.64 Radiologie VZ AR 153 2022 0 |
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10.1016/j.robot.2022.104075 doi /cbs_pica/cbs_olc/import_discovery/elsevier/einzuspielen/GBV00000000001759.pica (DE-627)ELV05757992X (ELSEVIER)S0921-8890(22)00037-9 DE-627 ger DE-627 rakwb eng 610 VZ 44.64 bkl Montesdeoca, Julio verfasserin aut Person-Following Controller with Socially Acceptable Robot Motion 2022transfer abstract nicht spezifiziert zzz rdacontent nicht spezifiziert z rdamedia nicht spezifiziert zu rdacarrier This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera’s field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion. This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera’s field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion. Human–robot interactive communication Elsevier Human–robot social interaction Elsevier Motion human-aware robot navigation Elsevier Person-following control Elsevier Socially acceptable robot motion Elsevier Toibero, J. Marcos oth Jordan, Julian oth Zell, Andreas oth Carelli, Ricardo oth Enthalten in Elsevier Clarke, C.G.D. ELSEVIER Comparison of LI-RADS with other non-invasive liver MRI criteria and radiological opinion for diagnosing hepatocellular carcinoma in cirrhotic livers using gadoxetic acid with histopathological explant correlation 2021 international journal Amsterdam [u.a.] (DE-627)ELV00580583X volume:153 year:2022 pages:0 https://doi.org/10.1016/j.robot.2022.104075 Volltext GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OLC-PHA 44.64 Radiologie VZ AR 153 2022 0 |
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Enthalten in Comparison of LI-RADS with other non-invasive liver MRI criteria and radiological opinion for diagnosing hepatocellular carcinoma in cirrhotic livers using gadoxetic acid with histopathological explant correlation Amsterdam [u.a.] volume:153 year:2022 pages:0 |
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Enthalten in Comparison of LI-RADS with other non-invasive liver MRI criteria and radiological opinion for diagnosing hepatocellular carcinoma in cirrhotic livers using gadoxetic acid with histopathological explant correlation Amsterdam [u.a.] volume:153 year:2022 pages:0 |
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Comparison of LI-RADS with other non-invasive liver MRI criteria and radiological opinion for diagnosing hepatocellular carcinoma in cirrhotic livers using gadoxetic acid with histopathological explant correlation |
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Person-Following Controller with Socially Acceptable Robot Motion |
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This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera’s field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion. |
| abstractGer |
This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera’s field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion. |
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This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera’s field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion. |
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