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[BGB11] Interactive person following for social robots

Conférence Internationale avec comité de lecture : CLAWAR 2011, 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, September 2011, pp.11-26,

Mots clés: robot, assistance, follow, decision making, artificial intelligence, kalman filter, fuzzy logic, Multiple-Objective Decision Making

Résumé: In this study we propose an innovative decision making engine for interactive person following for a mobile social robot. The developed engine combines 1. A Strategy controller that selects the strategy to apply 2. A Multiple-Objective system that provides to the robot the way to perform this strategy. We show the performances of this system by two sets of experiments (in simulation environment): the first one is based only on the observed data; in the second one we predict the state of the user with a Kalman filter and the state of the robot with a predictive model. We demonstrate that the proposed reasoning system is able to regulate the robot behavior in complex and critical situations. The suggested predictors improve the system performances considerably.

Equipe: ilj
Collaboration: ISIR

BibTeX

@inproceedings {
BGB11,
title="{Interactive person following for social robots}",
author=" A. Buendia and C. Granata and P. Bidaud ",
booktitle="{CLAWAR 2011, 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines}",
year=2011,
month="September",
pages="11-26",
}