NDLI: Analysis of human-robot spatial behaviour applying a qualitative trajectory calculus

Content Provider	IEEE Xplore Digital Library
Author	Hanheide, M. Peters, A. Bellotto, N.
Copyright Year	2012
Description	Author affiliation: Center of Excellence “Cognitive Interaction Technology”, (CITEC), Bielefeld University, Universitätsstraße 21-23, 33615, Germany (Peters, A.) \|\| School of Computer Science, University of Lincoln, LN6 7TS, England (Hanheide, M.; Bellotto, N.)
Abstract	The analysis and understanding of human-robot joint spatial behaviour (JSB) - such as guiding, approaching, departing, or coordinating movements in narrow spaces - and its communicative and dynamic aspects are key requirements on the road towards more intuitive interaction, safe encounter, and appealing living with mobile robots. This endeavours demand for appropriate models and methodologies to represent JSB and facilitate its analysis. In this paper, we adopt a qualitative trajectory calculus (QTC) as a formal foundation for the analysis and representation of such spatial behaviour of a human and a robot based on a compact encoding of the relative trajectories of two interacting agents in a sequential model. We present this QTC together with a distance measure and a probabilistic behaviour model and outline its usage in an actual JSB study. We argue that the proposed QTC coding scheme and derived methodologies for analysis and modelling are flexible and extensible to be adapted for a variety of other scenarios and studies.
Starting Page	689
Ending Page	694
File Size	410625
Page Count	6
File Format	PDF
ISBN	9781467346047
ISSN	19449445
e-ISBN	9781467346061
e-ISBN	9781467346054
DOI	10.1109/ROMAN.2012.6343831
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-09-09
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Joints Encoding Mobile robots Trajectory Calculus
Content Type	Text
Resource Type	Article

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