scholarly journals Socially Aware Navigation: A Non-linear Multi-objective Optimization Approach

2021 ◽  
Vol 11 (2) ◽  
pp. 1-26
Author(s):  
Santosh Balajee Banisetty ◽  
Scott Forer ◽  
Logan Yliniemi ◽  
Monica Nicolescu ◽  
David Feil-Seifer
Keyword(s):  
Social Norms ◽  
Personal Space ◽  
Human Robot Interaction ◽  
Optimization Approach ◽  
Human Society ◽  
Shopping Malls ◽  
Local Planning ◽  
Art Gallery ◽  
Multiple Interaction ◽  
Multiple Scenarios

Mobile robots are increasingly populating homes, hospitals, shopping malls, factory floors, and other human environments. Human society has social norms that people mutually accept; obeying these norms is an essential signal that someone is participating socially with respect to the rest of the population. For robots to be socially compatible with humans, it is crucial for robots to obey these social norms. In prior work, we demonstrated a Socially-Aware Navigation (SAN) planner, based on Pareto Concavity Elimination Transformation (PaCcET), in a hallway scenario, optimizing two objectives so the robot does not invade the personal space of people. This article extends our PaCcET-based SAN planner to multiple scenarios with more than two objectives. We modified the Robot Operating System’s (ROS) navigation stack to include PaCcET in the local planning task. We show that our approach can accommodate multiple Human-Robot Interaction (HRI) scenarios. Using the proposed approach, we achieved successful HRI in multiple scenarios such as hallway interactions, an art gallery, waiting in a queue, and interacting with a group. We implemented our method on a simulated PR2 robot in a 2D simulator (Stage) and a pioneer-3DX mobile robot in the real-world to validate all the scenarios. A comprehensive set of experiments shows that our approach can handle multiple interaction scenarios on both holonomic and non-holonomic robots; hence, it can be a viable option for a Unified Socially-Aware Navigation (USAN).

scholarly journals Determining Shape and Size of Personal Space of a Human when Passed by a Robot

2021 ◽  
Author(s):  
Margot M. E. Neggers ◽  
Raymond H. Cuijpers ◽  
Peter A. M. Ruijten ◽  
Wijnand A. IJsselsteijn
Keyword(s):  
Mobile Robots ◽  
Humanoid Robot ◽  
Personal Space ◽  
Human Robot Interaction ◽  
Autonomous Mobile Robots ◽  
Robot Interaction ◽  
Human Comfort ◽  
Navigation Algorithms ◽  
Insight Into ◽  
Shape And Size

AbstractAutonomous mobile robots that operate in environments with people are expected to be able to deal with human proxemics and social distances. Previous research investigated how robots can approach persons or how to implement human-aware navigation algorithms. However, experimental research on how robots can avoid a person in a comfortable way is largely missing. The aim of the current work is to experimentally determine the shape and size of personal space of a human passed by a robot. In two studies, both a humanoid as well as a non-humanoid robot were used to pass a person at different sides and distances, after which they were asked to rate their perceived comfort. As expected, perceived comfort increases with distance. However, the shape was not circular: passing at the back of a person is more uncomfortable compared to passing at the front, especially in the case of the humanoid robot. These results give us more insight into the shape and size of personal space in human–robot interaction. Furthermore, they can serve as necessary input to human-aware navigation algorithms for autonomous mobile robots in which human comfort is traded off with efficiency goals.

scholarly journals MODELING AND TESTING PROXEMIC BEHAVIOR FOR HUMANOID ROBOTS

2012 ◽  
Vol 09 (04) ◽  
pp. 1250028 ◽  
Author(s):  
ELENA TORTA ◽  
RAYMOND H. CUIJPERS ◽  
JAMES F. JUOLA ◽  
DAVID VAN DER POL
Keyword(s):  
Target Location ◽  
Personal Space ◽  
Humanoid Robots ◽  
Human Robot Interaction ◽  
Bayesian Filtering ◽  
Mathematical Form ◽  
Robot Interaction ◽  
Verbal Interactions ◽  
Definition Of ◽  
Robotic Architecture

Humanoid robots that share the same space with humans need to be socially acceptable and effective as they interact with people. In this paper we focus our attention on the definition of a behavior-based robotic architecture that (1) allows the robot to navigate safely in a cluttered and dynamically changing domestic environment and (2) encodes embodied non-verbal interactions: the robot respects the users personal space (PS) by choosing the appropriate distance and direction of approach. The model of the PS is derived from human–robot interaction tests, and it is described in a convenient mathematical form. The robot's target location is dynamically inferred through the solution of a Bayesian filtering problem. The validation of the overall behavioral architecture shows that the robot is able to exhibit appropriate proxemic behavior.

scholarly journals Investigation and analysis of Banoo Ghasseb's personality in Banoo Ghasseb letter system According to the theory of creative women from Estes

2021 ◽  
Vol 9 (SPE2) ◽  
Author(s):  
Farahnaz Jalali Ghasempour ◽  
Reza Ashrafzadeh ◽  
Batool Fakhr al-Islam
Keyword(s):  
Social Norms ◽  
Gender Stereotypes ◽  
Analytical Method ◽  
Internal Resistance ◽  
Human Society ◽  
Persian Literature ◽  
Patriarchal Culture ◽  
Library Resources ◽  
Physical Abilities ◽  
Self Knowledge

In recent decades, various theories and movements have been formed regarding women and their role in human society, and a number of experts have sought to eliminate gender stereotypes arising from patriarchal culture. They have been identifying women. Among them is Clarissa Pincola Estes, who has taken an important step in achieving dignity for women with her theory of creative women. In the field of classical Persian literature, despite the dominance of patriarchal culture, in some cases we have witnessed the emergence of women who have broken social norms and tried to achieve an identity independent of men. Rostam Dokhtar's lady is one of these women whose thoughts and behaviors are mentioned in the's poem. In this research, with reference to library resources and descriptive-analytical method, as well as the use of components of the theory of creative women from Estes, the characteristics of Banu Ghasseb have been studied and described. The results show that this woman has an independent female personality and has made efforts to combat the culture of male monologue. His negative reaction to love and marriage to Gio, the killing of Tamratash Turani, the fight against Rustam and the Indian suitors are some of the manifestations of this effort. With complete self-knowledge, the use of creativity, as well as awareness of her physical abilities, she transforms feminine passivity and stagnation into dynamism, and with an unyielding spirit, a laudable attempt to eliminate the unfavorable life situations. Had. Creativity in Banoo Ghasseb's personality has two external (invention of needlework) and internal (resistance to authoritarian men).

scholarly journals Conceptualizing Robotic Agency. Social Robots in Elder Care in Contemporary Japan

Relations ◽  
2021 ◽  
Vol 8 (1-2) ◽  
Author(s):  
Anne Aronsson ◽  
Fynn Holm
Keyword(s):  
Elderly Woman ◽  
Elder Care ◽  
Social Robots ◽  
Human Robot Interaction ◽  
First Century ◽  
Human Society ◽  
Labor Shortage ◽  
Robot Interaction ◽  
Aging Society ◽  
Technological Advances

Japan is a hyper-aging society, and its government is encouraging robotic solutions to address elder care labor shortage. Therefore, authorities have adopted an agenda of introducing social robots. However, increasing numbers of people in Japan are becoming emotionally attached to anthropomorphic machines, and their introduction into elder care may thus be perceived as contentious. By exploring human engagement with social robots in the care context, this paper argues that rapid technological advances in the twenty-first century will see robots achieve some level of agency, contributing to human society by carving out unique roles for themselves and by bonding with humans. Nevertheless, the questions remain of whether there should be a difference between humans attributing agency to a being and those beings having the inherent ability to produce agency and how we might understand that difference if unable to access the minds of other humans, let alone nonhumans, some of which are not even alive in the classical sense. Using the example of an interaction between an elderly woman and a social robot, we engage with these questions; discuss linguistic, attributed, and inherent agencies; and suggest that a processual type of agency might be most appropriate for understanding human-robot interaction.

A Multi-Objective Optimization Approach for Multi-Vehicle Path Planning Problems considering Human-Robot Interactions

2022 ◽  
pp. 1-14
Author(s):  
Venkata Sirimuvva Chirala ◽  
Saravanan Venkatachalam ◽  
Jonathon Smereka ◽  
Sam Kassoumeh
Keyword(s):  
Path Planning ◽  
Human Robot Interaction ◽  
Planning Problem ◽  
Optimization Approach ◽  
Unmanned Ground Vehicles ◽  
Ground Vehicles ◽  
Robot Interaction ◽  
Ground Vehicle ◽  
Multi Objective ◽  
Vehicle Path

Abstract There has been unprecedented development in the field of unmanned ground vehicles (UGVs) over the past few years. UGVs have been used in many fields including civilian and military with applications such as military reconnaissance, transportation, and search and research missions. This is due to their increasing capabilities in terms of performance, power, and tackling risky missions. The level of autonomy given to these UGVs is a critical factor to consider. In many applications of multi-robotic systems like “search-and-rescue” missions, teamwork between human and robots is essential. In this paper, given a team of manned ground vehicles (MGVs) and unmanned ground vehicles (UGVs), the objective is to develop a model which can minimize the number of teams and total distance traveled while considering human-robot interaction (HRI) studies. The human costs of managing a team of UGVs by a manned ground vehicle (MGV) are based on human-robot interaction (HRI) studies. In this research, we introduce a combinatorial, multi objective ground vehicle path planning problem which takes human-robot interactions into consideration. The objective of the problem is to find: ideal number of teams of MGVs-UGVs that follow a leader-follower framework where a set of UGVs follow an MGV; and path for each team such that the missions are completed efficiently.

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