TY - GEN
T1 - Minimizing Robot Navigation Graph for Position-Based Predictability by Humans
AU - Gopalakrishnan, Sriram
AU - Kambhampati, Subbarao
N1 - Funding Information:
This research is supported in part by ONR grants N00014-16-1-2892, N00014-18-1-2442, N00014-18-1-2840, N00014-9-1-2119, AFOSR grant FA9550-18-1-0067, DARPA SAIL-ON grant W911NF19-2-0006 and a JP Morgan AI Faculty Research grant.
Publisher Copyright:
© 2022 International Foundation for Autonomous Agents and Multiagent Systems (www.ifaamas.org). All rights reserved.
PY - 2022
Y1 - 2022
N2 - When multiple humans and robots are moving in spaces like restaurants, hospitals, or banks, making the robot's movements easy to predict can help the humans co-navigate the space with the robots. Since people would be busy with their own goals, they are not paying close attention to the prior movements, or goals of multiple robots. So predictability from the robot's current position alone would help. With this in mind, we propose using an algorithm to lay out fixed paths for the different tasks the robots would do, such that predictability from only the current position alone is optimized, and motion costs are kept within acceptable bounds.
AB - When multiple humans and robots are moving in spaces like restaurants, hospitals, or banks, making the robot's movements easy to predict can help the humans co-navigate the space with the robots. Since people would be busy with their own goals, they are not paying close attention to the prior movements, or goals of multiple robots. So predictability from the robot's current position alone would help. With this in mind, we propose using an algorithm to lay out fixed paths for the different tasks the robots would do, such that predictability from only the current position alone is optimized, and motion costs are kept within acceptable bounds.
KW - Human-Robot Interaction
KW - Navigation Graphs
KW - Position-Based Predictability
KW - Robot Navigation
UR - http://www.scopus.com/inward/record.url?scp=85125853102&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:85125853102
T3 - Proceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
SP - 1604
EP - 1606
BT - International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2022
PB - International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)
T2 - 21st International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2022
Y2 - 9 May 2022 through 13 May 2022
ER -