Alle Publikationen
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2018
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(2018): Toward Socially Aware Person-Following Robots. In: IEEE Transactions on Cognitive and Developmental Systems 10 (4), S. 936-954. DOI: 10.1109/TCDS.2018.2825641
DOI: https://doi.org/10.1109/TCDS.2018.2825641 Abstract: Significant research and development has been invested in technical issues related to person following. However, a systematic approach for designing robotic person-following behavior that maintains appropriate social conventions across contexts has not yet been developed. To understand why this may be the case, an in-depth literature review of 221 articles on person-following robots was performed, from which 107 are referenced. From these papers, six relevant topics were identified that shed light on the types of social interactions that have been studied in person-following scenarios: 1) applications; 2) robotic systems; 3) environments; 4) following strategies; 5) human-robot communication; and 6) evaluation methods. Gaps in the existing research on person-following robots were identified, mainly in addressing social interaction and user needs, noting that only 25 articles reported proper user studies. Human-related, robot-related, task-related, and environment-related factors that are likely to influence people’s spatial preferences and expectations of a robot’s person-following behavior are then discussed. To guide the design of socially aware person following robots, a user-needs layered design framework that combines the four factor categories is proposed. The framework provides a systematic way to incorporate social considerations in the design of person-following robots. Finally, framework limitations and future challenges in the field are presented and discussed.
Keywords: Accompanying robot, Angemessen(heit) (von Technik), environment-related factors, human-related factors, human-robot interaction, Human–robot interaction (HRI), ieee xplore, Legged locomotion, Mobile robots, Navigation, person-following, Proxemics, Robot sensing systems, robotic person-following behavior, robot-related factors, service robot, social interaction, Social interactions, Social robotic, social sciences, socially aware person-following robots, Task Analysis, task-related factors, user needs 2017
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(2017) : Socially-aware navigation planner using models of human-human interaction: 2017 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN): Lisbon, Portugal: IEEE Robotics & Automation Society, S. 405-410
DOI: https://doi.org/10.1109/ROMAN.2017.8172334 Abstract: In this paper, we revisit a real-time socially-aware navigation planner which helps a mobile robot to navigate alongside humans in a socially acceptable manner. This navigation planner is a modification of nav core package of Robot Operating System (ROS), based upon earlier work and further modified to use only egocentric sensors. The planner can be utilized to provide safe as well as socially appropriate robot navigation. Primitive features including interpersonal distance between the robot and an interaction partner and features of the environment (such as hallways detected in real-time) are used to reason about the current state of an interaction. Gaussian Mixture Models (GMM) are trained over these features from human-human interaction demonstrations of various interaction scenarios. This model is both used to discriminate different human actions related to their navigation behavior and to help in the trajectory selection process to provide a social-appropriateness score for a potential trajectory. This paper presents an evaluation done in simulation while utilizing data from real human interactions.
Keywords: Angemessen(heit) (von Technik), egocentric sensors, Feature extraction, Gaussian Mixture Models, Gaussian processes, human actions, human interactions, human-human interaction demonstrations, human-robot interaction, Humans, ieee xplore, interaction partner, interaction scenarios, mixture models, mobile robot, Mobile robots, nav core package, Navigation, navigation behavior, path planning, primitive features, Real-time systems, Robot Operating System, Robot sensing systems, service robot, social-appropriateness score, socially acceptable manner, socially appropriate robot navigation, socially-aware navigation planner, Trajectory -
(2017) : A study on the social acceptance of a robot in a multi-human interaction using an F-formation based motion model: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Vancouver, British Columbia, Canada: IEEE, S. 2766-2771
DOI: https://doi.org/10.1109/IROS.2017.8206105 Abstract: As robots participate in human’s daily activities more and more frequently, mobility performance has become one of the main factors determining how robots will share an environment with humans harmoniously in the near future. Among several different kinds of mobile platforms, using omnidirectional configurations is gradually becoming a trend in the robotics community; however, few researchers have addressed the impact of omnidirectional mobility from the perspective of human-robot interaction (HRI). In this paper, we have proposed a socializing model for the robot while participating in an interaction with a group of human peers to achieve its socially optimal position. From a theoretic perspective, we first identify the most prominent features required for social acceptance of robots interacting with multiple humans, backing our arguments with relevant sociological theory. To validate our results, we have conducted experiments where human participants were invited to interact with a robot, which can be constrained to perform either holonomic or nonholonomic motions only. Then, through an observer survey, we testify the appropriateness of utilizing omnidirectional mobility and verify the promotion of social acceptance using the aforementioned features, which is a goal that both the HRI and robotics communities aim to achieve.
Keywords: Angemessen(heit) (von Technik), Collision avoidance, F-formation based motion model, human-robot interaction, ieee xplore, Kinematics, Legged locomotion, mobile platforms, Mobile robots, mobility performance, multihuman interaction, Navigation, omnidirectional configurations, omnidirectional mobility, robotics community, service robot, Social Acceptance, socializing model 2016
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(2016): Socially adaptive path planning in human environments using inverse reinforcement learning. In: International Journal of Social Robotics 8 (1), S. 51-66. DOI: 10.1007/s12369-015-0310-2
DOI: https://doi.org/10.1007/s12369-015-0310-2 Abstract: A key skill for mobile robots is the ability to navigate efficiently through their environment. In the case of social or assistive robots, this involves navigating through human crowds. Typical performance criteria, such as reaching the goal using the shortest path, are not appropriate in such environments, where it is more important for the robot to move in a socially adaptive manner such as respecting comfort zones of the pedestrians. We propose a framework for socially adaptive path planning in dynamic environments, by generating human-like path trajectory. Our framework consists of three modules: a feature extraction module, inverse reinforcement learning (IRL) module, and a path planning module. The feature extraction module extracts features necessary to characterize the state information, such as density and velocity of surrounding obstacles, from a RGB-depth sensor. The inverse reinforcement learning module uses a set of demonstration trajectories generated by an expert to learn the expert’s behaviour when faced with different state features, and represent it as a cost function that respects social variables. Finally, the planning module integrates a three-layer architecture, where a global path is optimized according to a classical shortest-path objective using a global map known a priori, a local path is planned over a shorter distance using the features extracted from a RGB-D sensor and the cost function inferred from IRL module, and a low-level system handles avoidance of immediate obstacles. We evaluate our approach by deploying it on a real robotic wheelchair platform in various scenarios, and comparing the robot trajectories to human trajectories. (PsycINFO Database Record (c) 2019 APA, all rights reserved)
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(2016) : Mobile robot navigation for human-robot social interaction: 2016 16th International Conference on Control, Automation and Systems (ICCAS): Gyeongju, Korea: IEEE, S. 1298-1303
DOI: https://doi.org/10.1109/ICCAS.2016.7832481 Abstract: Human social interactions are believed to be described by a mathematical model called the Social Force Model (SFM). A variety of mobile robot research has often used the SFM to generate an appropriate navigation behavior. However, to create a mobile robot that moves around in a human-populated environment in a socially acceptable way, it should be stressed that the social conventions are strictly obeyed. This paper proposes an extended SFM between humans and robots, called the Social Relationship Model (SRM), to enable mobile robots to generate navigation paths in a human-like manner. Simulation results show notable advantages of SRM over the Transition based Rapidly Random Tree (T-RRT) path planning algorithm. The proposed method ensures a socially acceptable robot path, one of the most important issues for human-robot symbiosis.
Keywords: Angemessen(heit) (von Technik), Collision avoidance, Force, human-populated environment, human-robot interaction, human-robot social interaction, Human-Robot Symbiosis, ieee xplore, Mathematical model, mobile robot navigation, Mobile robots, Navigation, path planning, service robot, SFM, social force model, social relationship model, SRM, Symbiosis, transition based rapidly random tree, trees (mathematics), T-RRT path planning algorithm -
(2016) : Incorporating perception uncertainty in human-aware navigation: A comparative study: 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN): New York City, USA: IEEE, S. 570-577
DOI: https://doi.org/10.1109/ROMAN.2016.7745175 Abstract: In this work, we present a novel approach to human-aware navigation by probabilistically modelling the uncertainty of perception for a social robotic system and investigating its effect on the overall social navigation performance. The model of the social costmap around a person has been extended to consider this new uncertainty factor, which has been widely neglected despite playing an important role in situations with noisy perception. A social path planner based on the fast marching method has been augmented to account for the uncertainty in the positions of people. The effectiveness of the proposed approach has been tested in extensive experiments carried out with real robots and in simulation. Real experiments have been conducted, given noisy perception, in the presence of single/multiple, static/dynamic humans. Results show how this approach has been able to achieve trajectories that are able to keep a more appropriate social distance to the people, compared to those of the basic navigation approach, and the human-aware navigation approach which relies solely on perfect perception, when the complexity of the environment increases. Accounting for uncertainty of perception is shown to result in smoother trajectories with lower jerk that are more natural from the point of view of humans.
Keywords: Angemessen(heit) (von Technik), Computational modeling, Detectors, dynamic humans, fast marching method, human-aware navigation, human-robot interaction, ieee xplore, Mobile robots, Navigation, noisy perception, path planning, perception uncertainty, Probabilistic logic, probabilistic modelling, Probability, Proposals, Robots, social costmap, social navigation performance, social path planner, social robotic system, static humans, trajectories, trajectory control, uncertain systems, uncertainty, uncertainty factor 2014
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(2014) : Socially-appropriate approach paths using human data: The 23rd IEEE International Symposium on Robot and Human Interactive Communication: Edinburgh, Scotland: IEEE, S. 1037-1042
DOI: https://doi.org/10.1109/ROMAN.2014.6926389 Abstract: For service robots operating in indoor environments, the crucial task of navigation is often complicated by the presence of people. Simply treating humans in the environment as additional (often moving) obstacles can violate the complex set of social rules by which people navigate around each other. In contrast, emulating human behavior and navigating in a socially appropriate manner could positively affect people’s comfort with a robot’s presence and motion. We present a method of generating social paths for a robot to approach a person based on a small amount of human data. We also conducted a study in which a robot approached participants using both these social paths and straight-line, nonsocial paths. We found that both approaches were rated comparably when the robot approached from the participant’s front or side, but the social approach was significantly preferred when the robot came from behind the participant.
Keywords: Angemessen(heit) (von Technik), Collision avoidance, Data models, Distance measurement, Human behavior, ieee xplore, Legged locomotion, Magnetic heads, motion control, moving obstacles, Navigation, navigation task, person approach, robot motion, robot presence, service robot, social path, social path generation, social rules, socially-appropriate approach path, straight-line nonsocial path, Torso 2011
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(2011) : I'll keep an eye on you: Home robot companion for elderly people with cognitive impairment: IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2011: 9-12 Oct. 2011, Anchorage, Alaska, USA ; conference proceedings ; [including workshop papers]: EEE International Conference on Systems, Man and Cybernetics (IEEE SMC); Annual Workshop on Brain-Machine Interfaces; Workshop on Robust Machine Learning Technologies for Human Activity Detection Using Body-Worn Sensors: 2011 IEEE International Conference on Systems, Man and Cybernetics - SMC: Anchorage, AK, USA: 10/9/2011 - 10/12/2011: Piscataway, NJ: IEEE, S. 2481-2488
Abstract: The paper gives an overview of the progress in developing a socially assistive home robot companion for elderly people with mild cognitive impairment (MCI) living alone at home. The spectrum of required assistive functionalities of such a robot companion is broad and reaches from reminding functions (e.g. taking medication or drinking) and cognitive stimulation exercises, via mobile videophony with relatives or caregivers, up to the detection and evaluation of critical situations, like falls. The paper is addressing several aspects of our work as part of the European FP7 project “CompanionAble”, as for example the developed robot hardware and its software and control architecture, the implemented skills for robust user detection and tracking and user-centered navigation in the home environment, and reports on already conducted and still ongoing functionality testings and pending usability studies with the end-user target groups (the elderly, relatives, caregivers).
Keywords: Alltag, assistive robotics, Cameras, cognitive stimulation exercise, CompanionAble project, CONTROL ARCHITECTURE, elderly people, Gesundheit, handicapped aids, home automation, ieee xplore, mild cognitive impairment, Mobile robots, mobile videophony, Navigation, robot control architecture, Robot kinematics, Robot navigation, Robot vision systems, robust user detection, socially assistive robot companion, Software, user observation, user-centered navigation, videotelephony 2008
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(2008) : Measuring human-robot team effectiveness to determine an appropriate autonomy level: 2008 IEEE International Conference on Robotics and Automation: 2008 IEEE International Conference on Robotics and Automation: Pasadena, CA, USA: IEEE, S. 2146-2151
DOI: https://doi.org/10.1109/ROBOT.2008.4543524 Abstract: This paper proposes a methodology to measure the effectiveness of a human-robot team as part of an adjustable autonomy system. The effectiveness measure is aimed at determining an appropriate autonomy level prior to the system’s deployment. Two competing goals need to be traded off: maximising robot performance while minimising the amount of human input. The relative importance of the two goals depend on the mission priorities and constraints which are taken into account. The proposed methodology is applied to a human-robot communication system developed for task- oriented information exchange. The robot uses a decision- theoretic framework to act autonomously and to decide when to request input from human operators. The latter is achieved by computing the value-of-information an operator is able to provide which is compared to the cost of obtaining the information. For our system, the cost parameter represents the autonomy level to be determined. We demonstrate how an appropriate autonomy level can be found experimentally using a navigation task. In our experiment, the robot navigates through a set of simulated worlds with human input being generated by a software component. The results are used to find appropriate autonomy levels for three example missions and a subsequent user study.
Keywords: Angemessen(heit) (von Technik), Anthropometry, Automation, Cognitive robotics, Communication systems, Costs, decision-theoretic framework, Human robot interaction, human-robot communication system, ieee xplore, man-machine systems, Measurement, Navigation, Robot sensing systems, Robotics, Robots, safety, software component, task-oriented information exchange 1998
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(1998): Computer-assisted conversation for nonvocal people using prestored texts. In: IEEE Transactions on Systems, Man and Cybernetics, Part C (Applications and Reviews) 28 (3), S. 318-328. DOI: 10.1109/5326.704557
DOI: https://doi.org/10.1109/5326.704557 Abstract: The challenges faced by people who are severely physically impaired and nonspeaking are demonstrated by the fact that, even with current technology, the word rates that they can achieve using current communication systems tend to range from two to ten words per min. We have been investigating ways in which prestored reusable texts might assist in improving the performance of such systems. Beginning with a study of the acceptability and effects of including prestored texts in a conversation, this investigation examined a series of methods of increasing complexity that had the system itself perform some of the cognitive and manipulative tasks required to locate suitable texts for a user to include in conversation. These methods have included logging conversational paths for potential reuse in future interactions, using a hypertext structure for storing and navigating through conversational texts, employing fuzzy information retrieval, and building a system based on scripts, plans, and goals. Seeing the possible conversation modes as occurring at varying levels of novelty, from predictable routines through reusable texts to uniquely created utterances, the most likely area for significant improvement then is in the storage and retrieval of large amounts of reusable text. Research needs to discover ways of making the retrieval process as effortless and efficient as possible to free the user to concentrate on the interaction itself.
Keywords: Alltag, Buildings, computer assisted conversation, conversation modes, conversational paths, conversational texts, future interactions, fuzzy information retrieval, Fuzzy systems, handicapped aids, Human Factors, Humans, hypertext structure, ieee xplore, Information retrieval, INSPEC: Controlled Indexing, interactive systems, Interaktionsforschung, manipulative tasks, Navigation, nonvocal people, physically impaired, Physics computing, Portable computers, potential reuse, Power engineering computing, prestored reusable texts, prestored texts, retrieval process, reusable texts, speech, Switches, uniquely created utterances, user interfaces, word processing, word rates
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