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An Adaptive and Proactive Human-Aware Robot Guide

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Social Robotics (ICSR 2015)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9388))

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Abstract

In this paper we present a robotic system able to guide a person to a destination in a socially acceptable way. Our robot is able to estimate if the user is still actively following and react accordingly. This is achieved by stopping and waiting for the user or by changing the robot’s speed to adapt to his needs. We also investigate how the robot can influence a person’s behavior by changing its speed, to account for the urgency of the current task or for environmental stimulus, and by interacting with him when he stops following it. We base the planning model on Hierarchical Mixed Observability Markov Decision Processes to decompose the task in smaller subsets, simplifying the computation of a solution. Experimental results suggest the efficacy of our model.

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Author information

Authors and Affiliations

  1. Université de Toulouse, LAAS-CNRS Institut Carnot, 7 rue du Colonel Roche, 31500, Toulouse, France

    Michelangelo Fiore, Harmish Khambhaita, Grégoire Milliez & Rachid Alami

Authors
  1. Michelangelo Fiore
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  2. Harmish Khambhaita
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  3. Grégoire Milliez
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  4. Rachid Alami
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Corresponding author

Correspondence to Michelangelo Fiore .

Editor information

Editors and Affiliations

  1. Robotics and Computer Vision Lab, ENSTA-ParisTech, Palaiseau, France

    Adriana Tapus

  2. Inst für Informatik, Human-Ctr Multimedi, Universität Augsburg, Augsburg, Bayern, Germany

    Elisabeth André

  3. LIMSI-CNRS, Orsay, France

    Jean-Claude Martin

  4. Robotics and Computer Vision Lab, ENSTA-ParisTech, Palaiseau, France

    François Ferland

  5. LIMSI-CNRS, Orsay, France

    Mehdi Ammi

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Fiore, M., Khambhaita, H., Milliez, G., Alami, R. (2015). An Adaptive and Proactive Human-Aware Robot Guide. In: Tapus, A., André, E., Martin, JC., Ferland, F., Ammi, M. (eds) Social Robotics. ICSR 2015. Lecture Notes in Computer Science(), vol 9388. Springer, Cham. https://doi.org/10.1007/978-3-319-25554-5_20

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  • DOI: https://doi.org/10.1007/978-3-319-25554-5_20

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-25553-8

  • Online ISBN: 978-3-319-25554-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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