ICRA 2012 Paper Abstract


Paper WeC04.3

Rios-Martinez, Jorge (INRIA Rhone-Alpes), Renzaglia, Alessandro (INRIA), Spalanzani, Anne (INRIA / UPMF-Grenoble 2), Martinelli, Agostino (INRIA Grenoble-Rhone-Alpes), Laugier, Christian (INRIA Rhône-Alpes)

Navigating between People: A Stochastic Optimization Approach

Scheduled for presentation during the Regular Session "Stochastic Motion Planning" (WeC04), Wednesday, May 16, 2012, 15:00−15:15, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 20, 2018

Keywords Robot Companions and Social Human-Robot Interaction, Service Robots, Learning and Adaptive Systems


The objective of this paper is to present a strategy to safely move a robot in an unknown and complex environment where people are moving and interacting. The robot, by using only its sensor data, must navigate respecting humans’ comfort. To obtain good results in such a dynamic environment, a prediction on humans’ movement is also crucial. To solve all the aforementioned problems we introduce a suitable cost function. Its optimization is obtained by using a new stochastic and adaptive optimization algorithm (CAO). This method is very useful in particular when the analytical expression of the optimization function is unknown but numerical values are available for any state configuration. Additionally, the proposed method can easily incorporate any dynamical and environmental constraints. To validate the performance of the proposed solution, several simulation results are provided.



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