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Computer Science > Robotics

arXiv:2410.05015 (cs)
[Submitted on 7 Oct 2024]

Title:Anticipating Human Behavior for Safe Navigation and Efficient Collaborative Manipulation with Mobile Service Robots

Authors:Simon Bultmann, Raphael Memmesheimer, Jan Nogga, Julian Hau, Sven Behnke
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Abstract:The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observations along with future predictions and goal information to integrate anticipatory behavior for the control of a mobile manipulation robot. We present approaches to anticipate human behavior in the context of safe navigation and a collaborative mobile manipulation task. First, we anticipate human motion by employing projections of human trajectories from smart edge sensor network observations into the planning map of a mobile robot. Second, we anticipate human intentions in a collaborative furniture-carrying task to achieve a given goal. Our experiments indicate that anticipating human behavior allows for safer navigation and more efficient collaboration. Finally, we showcase an integrated system that anticipates human behavior and collaborates with a human to achieve a target room layout, including the placement of tables and chairs.
Subjects: Robotics (cs.RO)
Cite as: arXiv:2410.05015 [cs.RO]
  (or arXiv:2410.05015v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2410.05015

Submission history

From: Simon Bultmann [view email]
[v1] Mon, 7 Oct 2024 13:14:37 UTC (25,419 KB)
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