ITrabajo presentado al IROS 2009 celebrado en Saint Louis (USA) del 10 al 15 de octubre. ; We present a new model for people guidance in urban settings using several mobile robots, that overcomes the limitations of existing approaches, which are either tailored to tightly bounded environments, or based on unrealistic human behaviors. Although the robots motion is controlled by means of a standard particle filter formulation, the novelty of our approach resides in how the environment and human and robot motions are modeled. In particular we define a “Discrete-Time-Motion” model, which from one side represents the environment by means of a potential field, that makes it appropriate to deal with open areas, and on the other hand the motion models for people and robots respond to realistic situations, and for instance human behaviors such as “leaving the group” are considered. ; This work was supported by projects: 'Ubiquitous networking robotics in urban settings' (E-00938), 'CONSOLIDER-INGENIO 2010 Multimodal interaction in pattern recognition and computer vision' (V-00069), 'Robotica ubicua para entornos urbanos' (J-01225). This research was conducted at the Institut de Robòtica i Informàtica Industrial (CSIC-UPC). It was partially supported by CICYT projects DPI2007-61452 and Ingenio Consolider CSD2007-018, by CSIC project 200850I055 and by IST-045062 of European Community. The first author acknowledges Spanish FPU grant ref. AP2006-00825. ; Peer Reviewed
Discrete time motion model for guiding people in urban areas using multiple robots
2009-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
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