On equitably approaching and joining a group of interacting humans

Vishnu Karakkat Narayanan 1 Anne Spalanzani 2, 3 François Pasteau 1 Marie Babel 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
2 PRIMA - Perception, recognition and integration for observation of activity
Inria Grenoble - Rhône-Alpes, UJF - Université Joseph Fourier - Grenoble 1, INPG - Institut National Polytechnique de Grenoble , CNRS - Centre National de la Recherche Scientifique : UMR5217
Abstract : — In this work we introduce a low-level system that could be employed by a social robot like a robotic wheelchair or a humanoid, for approaching a group of interacting humans, in order to become a part of the interaction. Taking into account an interaction space that is created when at least two humans interact, a meeting point can be calculated where the robot should reach in order to equitably share space among the interacting group. We propose a sensor-based control task which uses the position and orientation of the humans with respect to the sensor as inputs, to reach the said meeting point while respecting spatial social constraints. Trials in simulation demonstrate the convergence of the control task and its capability as a low-level system for human-aware navigation.
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Vishnu Karakkat Narayanan, Anne Spalanzani, François Pasteau, Marie Babel. On equitably approaching and joining a group of interacting humans. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'15, Sep 2015, Hamburg, Germany. pp.4071-4077. ⟨hal-01185838⟩

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