Perspective taking: an organizing principle for learning in human-robot interaction
AAAI'06 proceedings of the 21st national conference on Artificial intelligence - Volume 2
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
How do people walk side-by-side?: using a computational model of human behavior for a social robot
HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
Enabling effective human-robot interaction using perspective-taking in robots
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
A framework with a pedestrian simulator for deploying robots into a real environment
SIMPAR'12 Proceedings of the Third international conference on Simulation, Modeling, and Programming for Autonomous Robots
Supervisory control of multiple social robots for navigation
Proceedings of the 8th ACM/IEEE international conference on Human-robot interaction
Communication of intent in assistive free flyers
Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
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A robot working among pedestrians can attract crowds of people around it, and consequentially become a bothersome entity causing congestion in narrow spaces. To address this problem, our idea is to endow the robot with capability to understand humans' crowding phenomena. The proposed mechanism consists of three underlying models: a model of pedestrian flow, a model of pedestrian interaction, and a model of walking comfort. Combining these models a robot is able to simulate hypothetical situations where it navigates between pedestrians, and anticipate the degree to which this would affect the pedestrians' walking comfort. This idea is implemented in a friendly-patrolling scenario. During planning, the robot simulates the interaction with pedestrian crowd and determines the best path to roam. The result of a field experiment demonstrated that with the proposed method the pedestrians around the robot perceived better walking comfort than pedestrians around the robot that only maximized its exposure.