NDLI: Learning how to increase the chance of human-robot engagement

Content Provider	IEEE Xplore Digital Library
Author	Macharet, D.G. Florencio, D.A.
Copyright Year	2013
Description	Author affiliation: Comput. Sci. Dept., Univ. Fed. de Minas Gerais, Belo Horizonte, Brazil (Macharet, D.G.) \|\| Microsoft Res., Redmond, WA, USA (Florencio, D.A.)
Abstract	The increasing use of mobile robots in social contexts makes it important to provide them with the ability to behave in the most socially acceptable way possible. In this paper we investigate the problem of making a robot learn how to approach a person in order to increase the chance of a successful engagement. We propose the use of Gaussian Process Regression (GPR), combined with ideas from reinforcement learning to make sure the space is properly and continuously explored. In the proposed example scenario, this is used by the robot to predict the best decisions in relation to its position in the environment and approach distance, each one accordingly to a certain time of the day. Numerical simulations show a significant performance improvement when compared with a random technique. The robot is able to improve performance after just one day of interaction (a few dozens of trials), and achieves the maximum expected value for the proposed approach within sixty days.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	2173
Ending Page	2179
File Size	7134917
Page Count	7
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696660
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Mathematical model Equations Learning (artificial intelligence) Gaussian processes Vectors Ground penetrating radar
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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