Designing Human-Robot Coexistence Space

When the human-robot interactions become ubiquitous, environment surrounding these will have significant impact on safety and comfort of human effectiveness efficiency robot. Although most robots are designed to work in spaces created for humans, many environments, such as living rooms offices, can be should redesigned enhance improve collaboration interactions. This letter uses autonomous wheelchair an example investigates computational design coexistence spaces. Given room size objects O room, proposed framework computes optimal layouts that satisfy both preferences navigation constraints wheelchair. The key enabling technique is a motion planner efficiently evaluate hundreds similar planning problems. Our implementation shows produce around three five minutes average comparing 10 20 without planner. results also show method produces reasonable designs even tight users with different preferences.