Towards Modelling Group-Robot Interactions Using a Qualitative Spatial Representation
نویسندگان
چکیده
This paper tackles the problem of finding a suitable qualitative representation for robots to reason about activity spaces where they carry out tasks interacting with a group of people. The Qualitative Spatial model for Group Robot Interaction (QS-GRI) defines Kendon-formations depending on: (i) the relative location of the robot with respect to other individuals involved in that interaction; (ii) the individuals’ orientation; (iii) the shared peri-personal distance; and (iv) the role of the individuals (observer, main character or interactive). The evolution of Kendon-formations between is studied, that is, how one formation is transformed into another. These transformations can depend on the role that the robot have, and on the amount of people involved.
منابع مشابه
Mechanical System Modelling of Robot Dynamics Using a Mass/Pulley Model
The well-known electro-mechanical analogy that equates current, voltage, resistance, inductance and capacitance to force, velocity, damping, spring constant and mass has a shortcoming in that mass can only be used to simulate a capacitor which has one terminal connected to ground. A new model that was previously proposed by the authors that combines a mass with a pulley (MP) is shown to simulat...
متن کاملA Computational Model of Human-Robot Spatial Interactions Based on a Qualitative Trajectory Calculus
In this paper we propose a probabilistic sequential model of Human-Robot Spatial Interaction (HRSI) using a well-established Qualitative Trajectory Calculus (QTC) to encode HRSI between a human and a mobile robot in a meaningful, tractable, and systematic manner. Our key contribution is to utilise QTC as a state descriptor and model HRSI as a probabilistic sequence of such states. Apart from th...
متن کاملA Qualitative Spatial Descriptor of Group-Robot Interactions
The problem of finding a suitable qualitative representation for robots to reason about activity spaces where they carry out tasks such as leading or interacting with a group of people is tackled in this paper. For that, a Qualitative Spatial model for Group Robot Interaction (QS-GRI) is proposed to define Kendon’s F-formations [16] depending on: (i) the relative location of the robot with resp...
متن کاملQualitative Spatio-Temporal Representation and Reasoning for robotic applications
This paper discusses the methodology of Qualitative Spatio-Temporal Representation and Reasoning (QSTRR) for robotic applications. The goal is to develop reasoning mechanism that will allow modelling the environment and performing spatiotemporal decisions. A new approach is related to environment modelling based on robot’s perception, therefore new concepts (spatial entities) are obtained autom...
متن کاملQualitative Modelling of Planar Robots
This study proposes an approach, the unit circle (UC), to qualitative modelling of a planar robot. A robot is described as a collection of constraints holding among time-varying, interval-valued variables. The UC representation is presented, the continuous motion of the end-effector is evaluated by the change of directions of qualitative angle and qualitative length. Analytical formulas of qual...
متن کامل