ICRA 2011 Paper Abstract


Paper ThA205.2

Mainprice, Jim (Université Toulouse; UPS, INSA, INP, ISAE; LAAS;), Sisbot, Emrah Akin (LAAS/CNRS), Jaillet, Leonard (Institut de Robōtica i Informātica Industrial CSIC-UPC), Cortes, Juan (LAAS-CNRS), Alami, Rachid (CNRS), Simeon, Thierry (LAAS-CNRS)

Planning Human-Aware Motions Using a Sampling-Based Costmap Planner

Scheduled for presentation during the Regular Sessions "Manipulation Planning II" (ThA205), Thursday, May 12, 2011, 10:20−10:35, Room 3G

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Motion and Path Planning, Cognitive Human-Robot Interaction, Manipulation Planning


This paper addresses the motion planning problem while considering Human-Robot Interaction (HRI) constraints. The proposed planner generates collision-free paths that are acceptable and legible to the human. The method extends our previous work on human-aware path planning to cluttered environments. A randomized cost-based exploration method provides an initial path that is relevant with respect to HRI and workspace constraints. The quality of the path is further improved with a local path-optimization method. Simulation results on mobile manipulators in the presence of humans demonstrate the overall efficacy of the approach.



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