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Planning Problems for Social Robots Gian Diego Tipaldi and Kai O. Arras

Summary: Planning Problems for Social Robots
Gian Diego Tipaldi and Kai O. Arras
Social Robotics Lab
Albert-Ludwigs-University of Freiburg
As robots enter environments that they share with people,
human-aware planning and interaction become key tasks to
be addressed. For doing so, robots need to reason about
the places and times when and where humans are engaged
into which activity and plan their actions accordingly. In
this paper, we first address this issue by learning a nonho-
mogenous spatial Poisson process whose rate function en-
codes the occurrence probability of human activities in space
and time. We then present two planning problems for hu-
man robot interaction in social environments. The first one is
the maximum encounter probability planning problem, where
a robot aims to find the path along which the probability of
encountering a person is maximized. We are interested in
two versions of this problem, with deadlines or with a cer-


Source: Arras, Kai O. - Institut für Informatik, Albert-Ludwigs-Universität Freiburg


Collections: Computer Technologies and Information Sciences