Publication Details

David Feil-Seifer and Maja Matarić. "People-Aware Navigation For Goal-Oriented Behavior Involving a Human Partner." In Proceedings of the International Conference on Development and Learning (ICDL), Frankfurt am Main, Germany, Aug 2011. doi: 10.1109/DEVLRN.2011.6037331 ( pdf )


  • Keywords:
  • autism
  • HRI
  • socially assistive robotics
  • person-detection
  • path-planning

Abstract

In order to facilitate effective autonomous interaction behavior for Human-Robot Interaction, goal-oriented behavior of the robot should be able to react to sensor feedback related to the people with which it is interacting. Prior work has demonstrated that using autonomously sensed distance-based features can be used to correctly detect user state. We wish to demonstrate that such models can also be used to weight action selection as well. This paper considers the problem of moving to a goal with a partner, demonstrating that a learned model can be used to weight trajectories of a navigation system for autonomous movement. A realization of a person-aware navigation system which requires no ad-hoc parameter tuning, and no input other than a small set of training examples. This system is validated using an in-lab demonstration of people-aware navigation using the described system.

Author Details

Name: David Feil-Seifer
email: dave@cse.unr.edu
Website: http://cse.unr.edu/~dave
Phone: (775) 784-6469
Status: Active

Name: Maja Matarić
email: maja@cs.usc.edu
Website: http://robotics.usc.edu/~maja
Status: Inactive

BibTex Reference

@inproceedings{feil-seifer2011people-aware,
  title={People-Aware Navigation For Goal-Oriented Behavior Involving a Human Partner},
  author={David Feil-Seifer and Maja Matarić},
  year={2011},
  month={August},
  address={Frankfurt am Main, Germany},
  doi={10.1109/DEVLRN.2011.6037331},
  booktitle={Proceedings of the International Conference on Development and Learning (ICDL)},
}

HTML Reference

<span class="authors">David Feil-Seifer and Maja Matarić</span>. <span class="title">"People-Aware Navigation For Goal-Oriented Behavior Involving a Human Partner." </span> In <span class="booktitle">Proceedings of the International Conference on Development and Learning (ICDL)</span>, <span class="address">Frankfurt am Main, Germany</span>, <span class="month">Aug</span> <span class="year">2011</span>. <span class="ending"></span> <span class="doi">doi: 10.1109/DEVLRN.2011.6037331</span>