Lab Meeting 22 October (Stanley): A Human Aware Mobile Robot Motion Planner

From: IEEE TRANSACTIONS ON ROBOTICS, VOL. 23, NO. 5, OCTOBER 2007 p874-883

Author: Emrah Akin Sisbot, Luis F. Marin-Urias, Rachid Alami, and Thierry Sim´eon, Member, IEEE

Abstract:
Robot navigation in the presence of humans raises new issues formotion planning and control when the humans must be taken explicitly into account. We claim that a human aware motion planner (HAMP) must not only provide safe robot paths, but also synthesize good, socially acceptable and legible paths. This paper focuses on amotion planner that takes explicitly into account its human partners by reasoning about their accessibility, their vision field and their preferences in terms of relative human–robot placement and motions in realistic environments. This planner is part of a human-aware motion and manipulation planning and control system that we aim to develop in order to achieve motion and manipulation tasks in the presence or in synergy with humans.