How may I serve you?: a robot companion approaching a seated person in a helping context
Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction
Reality mining: sensing complex social systems
Personal and Ubiquitous Computing
A General Framework For Tracking People
FGR '06 Proceedings of the 7th International Conference on Automatic Face and Gesture Recognition
Effects of anticipatory action on human-robot teamwork efficiency, fluency, and perception of team
Proceedings of the ACM/IEEE international conference on Human-robot interaction
Learning and inferring transportation routines
Artificial Intelligence
Multiple-goal recognition from low-level signals
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 1
Large-scale localization from wireless signal strength
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 1
People tracking with anonymous and ID-sensors using Rao-Blackwellised particle filters
IJCAI'03 Proceedings of the 18th international joint conference on Artificial intelligence
Location-based activity recognition using relational Markov networks
IJCAI'05 Proceedings of the 19th international joint conference on Artificial intelligence
A study of bluetooth propagation using accurate indoor location mapping
UbiComp'05 Proceedings of the 7th international conference on Ubiquitous Computing
A quantitative method for revealing and comparing places in the home
UbiComp'06 Proceedings of the 8th international conference on Ubiquitous Computing
Predestination: inferring destinations from partial trajectories
UbiComp'06 Proceedings of the 8th international conference on Ubiquitous Computing
PowerLine positioning: a practical sub-room-level indoor location system for domestic use
UbiComp'06 Proceedings of the 8th international conference on Ubiquitous Computing
How to approach humans?: strategies for social robots to initiate interaction
Proceedings of the 4th ACM/IEEE international conference on Human robot interaction
An affective guide robot in a shopping mall
Proceedings of the 4th ACM/IEEE international conference on Human robot interaction
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Field trial of networked social robots in a shopping mall
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Simultaneous people tracking and localization for social robots using external laser range finders
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A larger audience, please!: encouraging people to listen to a guide robot
Proceedings of the 5th ACM/IEEE international conference on Human-robot interaction
Pointing to space: modeling of deictic interaction referring to regions
Proceedings of the 5th ACM/IEEE international conference on Human-robot interaction
Recommendation from robots in a real-world retail shop
International Conference on Multimodal Interfaces and the Workshop on Machine Learning for Multimodal Interaction
A communication robot in a shopping mall
IEEE Transactions on Robotics
Chutney and relish: designing to augment the experience of shopping at a farmers' market
Proceedings of the 22nd Conference of the Computer-Human Interaction Special Interest Group of Australia on Computer-Human Interaction
How many social robots can one operator control?
Proceedings of the 6th international conference on Human-robot interaction
Detecting customers' buying events on a real-life database
CAIP'11 Proceedings of the 14th international conference on Computer analysis of images and patterns - Volume Part I
Comparison of laser-based person tracking at feet and upper-body height
KI'11 Proceedings of the 34th Annual German conference on Advances in artificial intelligence
Review: Situation identification techniques in pervasive computing: A review
Pervasive and Mobile Computing
Interaction scenarios for HRI in public space
ICSR'11 Proceedings of the Third international conference on Social Robotics
Pattern Recognition Letters
Understanding customer malling behavior in an urban shopping mall using smartphones
Proceedings of the 2013 ACM conference on Pervasive and ubiquitous computing adjunct publication
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For a robot providing services to people in a public space such as a train station or a shopping mall, it is important to distinguish potential customers, such as window-shoppers, from other people, such as busy commuters. In this paper, we present a series of techniques for anticipating people's behavior in a public space, mainly based on the analysis of accumulated trajectories, and we demonstrate the use of these techniques in a social robot. We placed a ubiquitous sensor network consisting of six laser range finders in a shopping arcade. The system tracks people's positions as well as their local behaviors such as fast walking, idle walking, or stopping. We accumulated people's trajectories for a week, applying a clustering technique to the accumulated trajectories to extract information about the use of space and people's typical global behaviors. This information enables the robot to target its services to people who are walking idly or stopping. The robot anticipates both the areas in which people are likely to perform these behaviors, and also the probable local behaviors of individuals a few seconds in the future. In a field experiment we demonstrate that this system enables the robot to serve people efficiently.