Paper Info
Title
Follow The Robot: Modeling Coupled Human-Robot Dyads During Navigation
Abstract
Many robot applications being explored involve robots leading humans during navigation. Developing effective robots for this task requires a way for robots to understand and model a human's following behavior. In this paper, we present results from a user study of how humans follow a guide robot in the halls of an office building. We then present a data-driven Markovian model of this following behavior, and demonstrate its generalizability across time interval and trajectory length. Finally, we integrate the model into a global planner and run a simulation experiment to investigate the benefits of coupled human-robot planning. Our results suggest that the proposed model effectively predicts how humans follow a robot, and that the coupled planner, while taking longer, leads the human significantly closer to the target position.
Year
DOI
Venue
2019
10.1109/IROS40897.2019.8967656
2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Generalizability theory,Markov process,Computer science,Planner,Robot modeling,Control engineering,Human–computer interaction,Robot,Trajectory,Human–robot interaction
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
4
Name
Order
Citations
PageRank
Amal Nanavati100.34
Xiang Zhi Tan2616.92
Joe Connolly352.11
Aaron Steinfeld448646.01