| dc.creator | Herrera,Daniel | |
| dc.creator | Gimenez,Javier | |
| dc.creator | Monllor,Matias | |
| dc.creator | Roberti,Flavio | |
| dc.creator | Carelli,Ricardo | |
| dc.date | 2019-01-01 | |
| dc.date.accessioned | 2023-09-25T15:16:45Z | |
| dc.date.available | 2023-09-25T15:16:45Z | |
| dc.identifier | http://scielo.senescyt.gob.ec/scielo.php?script=sci_arttext&pid=S1390-01292019000100007 | |
| dc.identifier.uri | https://repositorioslatinoamericanos.uchile.cl/handle/2250/8824065 | |
| dc.description | Abstract: Social behaviors are crucial to improve the acceptance of a robot in human-shared environments. One of the most important social cues is undoubtedly the social space. This human mechanism acts like a repulsive field to guarantee comfortable interactions. Its modeling has been widely studied in social robotics, but its experimental inference has been weakly mentioned. Thereby, this paper proposes a novel algorithm to infer the dimensions of an elliptical social zone from a points-cloud around the robot. The approach consists of identifying how the humans avoid a robot during navigation in shared scenarios, and later use this experience to represent humans obstacles like elliptical potential fields with the previously identified dimensions. Thus, the algorithm starts with a first-learning stage where the robot navigates without avoiding humans, i.e. the humans are in charge of avoiding the robots while developing their tasks. During this period, the robot generates a points-cloud with 2D laser measures from its own framework to define the human-presence zones around itself but prioritizing its closest surroundings. Later, the inferred social zone is incorporated to a null-space-based (NSB) control for a non-holonomic mobile robot, which consists of both trajectory tracking and pedestrian collision avoidance. Finally, the performance of the learning algorithm and the motion control is verified through experimentation. | |
| dc.format | text/html | |
| dc.language | en | |
| dc.publisher | Escuela Politécnica Nacional | |
| dc.rights | info:eu-repo/semantics/openAccess | |
| dc.source | Revista Politécnica v.42 n.2 2019 | |
| dc.subject | Human-robot interaction | |
| dc.subject | control of mobile robots | |
| dc.subject | robot cognition | |
| dc.subject | social robots | |
| dc.subject | social zones | |
| dc.subject | proxemics. | |
| dc.title | Cognitive social zones for improving the pedestrian collision avoidance with mobile robots | |
| dc.type | info:eu-repo/semantics/article | |
