Adaptive Social Planner to Accompany People in Real-Life Dynamic Environments

Robots must develop the ability to socially navigate in uncontrolled urban environments to be able to be included in our daily lives. This paper presents a new robot navigation framework called the adaptive social planner (ASP) and a robotic system, which includes the ASP. Our results and previous w...

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Detalles Bibliográficos
Autores: Repiso, Ely, Garrell, Anaís, Sanfeliu, Alberto
Tipo de recurso: artículo
Estado:Versión enviada para evaluación y publicación
Fecha de publicación:2024
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/376820
Acceso en línea:http://hdl.handle.net/10261/376820
https://api.elsevier.com/content/abstract/scopus_id/85143265904
Access Level:acceso abierto
Palabra clave:Human-robot accompaniment
Human-robot collaboration
Human-robot group formation
Human-robot interaction
Robot navigation
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spelling Adaptive Social Planner to Accompany People in Real-Life Dynamic EnvironmentsRepiso, ElyGarrell, AnaísSanfeliu, AlbertoHuman-robot accompanimentHuman-robot collaborationHuman-robot group formationHuman-robot interactionRobot navigationRobots must develop the ability to socially navigate in uncontrolled urban environments to be able to be included in our daily lives. This paper presents a new robot navigation framework called the adaptive social planner (ASP) and a robotic system, which includes the ASP. Our results and previous work show that the ASP can adapt to different collaborative tasks involving humans and robots, such as independent robot navigation, human-robot accompaniment, a robot approaching people, robot navigation tasks that combine learning techniques, and human-drone interactions. Our approach in this paper focuses on demonstrating how the ASP can be customized to implement two new methods for group accompaniment: the adaptive social planner using a V-formation model to accompany groups of people (ASP-VG) and the adaptive social planner using a side-by-side model to accompany groups of people (ASP-SG). These two methods result in a robot accompanying groups of people by anticipating human and uncontrolled urban environment behaviors. Also, we develop four new robot skills to deal with unexpected human behaviors, such as rearrangement of the position of the companions inside the group, unforeseen changes in the velocity of the robot companions, occlusions among group members, and changes in the direction toward destinations in the environment. Moreover, we develop different performance metrics, based on social distances, to evaluate the tasks of the robot. In addition, we present the guidelines followed in performing the real-life experiments with volunteers, including a human-robot speech interaction to help humans create a relationship with the robot to be genuinely involved in the mutual accompaniment. Finally, we include an exhaustive validation of the methods by evaluating the behavior of the robot through synthetic and real-life experiments. We incorporate five user studies to evaluate aspects related to social acceptability and preferences of people regarding both types of robot group accompaniment.ROCOTRANSP: National Project. Funder: Ministerio de Ciencia e Innovacion (MCIN) y Agencia Española de Investigacion (AEI). Award Number: PID2019-106702RB-C21 MCIN / AEI/10.13039/501100011033. Grant Recipient: Alberto Sanfeliu Cortés (UPC). TERRINET: European Project. Funder: European Commission. Award Number: H2020-INFRAIA-2017-1-two-stage-730994. Grant Recipient: Alberto Sanfeliu Cortés (UPC).Peer reviewedSpringerMinisterio de Ciencia, Innovación y Universidades (España)Agencia Estatal de Investigación (España)European CommissionRepiso, Ely [0000-0001-6540-8347]Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]202520252024info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Preprintinfo:eu-repo/semantics/submittedVersionapplication/pdfhttp://hdl.handle.net/10261/376820https://api.elsevier.com/content/abstract/scopus_id/85143265904reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)Inglés#PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE#info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2019-106702RB-C21info:eu-repo/grantAgreement/EC/H2020/730994https://doi.org/10.1007/s12369-022-00937-3Síinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/3768202026-05-22T06:33:51Z
dc.title.none.fl_str_mv Adaptive Social Planner to Accompany People in Real-Life Dynamic Environments
title Adaptive Social Planner to Accompany People in Real-Life Dynamic Environments
spellingShingle Adaptive Social Planner to Accompany People in Real-Life Dynamic Environments
Repiso, Ely
Human-robot accompaniment
Human-robot collaboration
Human-robot group formation
Human-robot interaction
Robot navigation
title_short Adaptive Social Planner to Accompany People in Real-Life Dynamic Environments
title_full Adaptive Social Planner to Accompany People in Real-Life Dynamic Environments
title_fullStr Adaptive Social Planner to Accompany People in Real-Life Dynamic Environments
title_full_unstemmed Adaptive Social Planner to Accompany People in Real-Life Dynamic Environments
title_sort Adaptive Social Planner to Accompany People in Real-Life Dynamic Environments
dc.creator.none.fl_str_mv Repiso, Ely
Garrell, Anaís
Sanfeliu, Alberto
author Repiso, Ely
author_facet Repiso, Ely
Garrell, Anaís
Sanfeliu, Alberto
author_role author
author2 Garrell, Anaís
Sanfeliu, Alberto
author2_role author
author
dc.contributor.none.fl_str_mv Ministerio de Ciencia, Innovación y Universidades (España)
Agencia Estatal de Investigación (España)
European Commission
Repiso, Ely [0000-0001-6540-8347]
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Human-robot accompaniment
Human-robot collaboration
Human-robot group formation
Human-robot interaction
Robot navigation
topic Human-robot accompaniment
Human-robot collaboration
Human-robot group formation
Human-robot interaction
Robot navigation
description Robots must develop the ability to socially navigate in uncontrolled urban environments to be able to be included in our daily lives. This paper presents a new robot navigation framework called the adaptive social planner (ASP) and a robotic system, which includes the ASP. Our results and previous work show that the ASP can adapt to different collaborative tasks involving humans and robots, such as independent robot navigation, human-robot accompaniment, a robot approaching people, robot navigation tasks that combine learning techniques, and human-drone interactions. Our approach in this paper focuses on demonstrating how the ASP can be customized to implement two new methods for group accompaniment: the adaptive social planner using a V-formation model to accompany groups of people (ASP-VG) and the adaptive social planner using a side-by-side model to accompany groups of people (ASP-SG). These two methods result in a robot accompanying groups of people by anticipating human and uncontrolled urban environment behaviors. Also, we develop four new robot skills to deal with unexpected human behaviors, such as rearrangement of the position of the companions inside the group, unforeseen changes in the velocity of the robot companions, occlusions among group members, and changes in the direction toward destinations in the environment. Moreover, we develop different performance metrics, based on social distances, to evaluate the tasks of the robot. In addition, we present the guidelines followed in performing the real-life experiments with volunteers, including a human-robot speech interaction to help humans create a relationship with the robot to be genuinely involved in the mutual accompaniment. Finally, we include an exhaustive validation of the methods by evaluating the behavior of the robot through synthetic and real-life experiments. We incorporate five user studies to evaluate aspects related to social acceptability and preferences of people regarding both types of robot group accompaniment.
publishDate 2024
dc.date.none.fl_str_mv 2024
2025
2025
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Preprint
info:eu-repo/semantics/submittedVersion
format article
status_str submittedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/376820
https://api.elsevier.com/content/abstract/scopus_id/85143265904
url http://hdl.handle.net/10261/376820
https://api.elsevier.com/content/abstract/scopus_id/85143265904
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv #PLACEHOLDER_PARENT_METADATA_VALUE#
#PLACEHOLDER_PARENT_METADATA_VALUE#
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2019-106702RB-C21
info:eu-repo/grantAgreement/EC/H2020/730994
https://doi.org/10.1007/s12369-022-00937-3
Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
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