Abstract
The success of mobile robots, in daily living environments, depends on their capabilities to understand human movements and interact in a safe manner. This paper presents a novel unsupervised qualitative-relational framework for learning human motion patterns using a single mobile robot platform. It is capable of learning human motion patterns in real-world environments, in order to predict future behaviours.
This previously untackled task is challenging because of the limited field of view provided by a single mobile robot. It is only able to observe one location at any time, resulting in incomplete and partial human detections and trajectories. Central to the success of the presented framework is mapping the detections into an abstract qualitative space, and then characterising motion invariant to exact metric position.
This framework was used by a physical robot autonomously patrolling a company's office during a six week deployment. Experimental results from this deployment are discussed and demonstrate the effectiveness and applicability of the system.
This previously untackled task is challenging because of the limited field of view provided by a single mobile robot. It is only able to observe one location at any time, resulting in incomplete and partial human detections and trajectories. Central to the success of the presented framework is mapping the detections into an abstract qualitative space, and then characterising motion invariant to exact metric position.
This framework was used by a physical robot autonomously patrolling a company's office during a six week deployment. Experimental results from this deployment are discussed and demonstrate the effectiveness and applicability of the system.
| Original language | English |
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| Title of host publication | Proceedings of the 15th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2016) |
| Editors | J Thangarajah, K Tuyls, C Jonker, S Marsella |
| Publisher | Association for Computing Machinery |
| Pages | 1043-1051 |
| ISBN (Print) | 978-1-4503-4239-1 |
| Publication status | Published - 9 May 2016 |
| Event | International Conference on Autonomous Agents and Multiagent Systems (AAMAS) - , Singapore Duration: 9 May 2016 → 13 May 2016 |
Conference
| Conference | International Conference on Autonomous Agents and Multiagent Systems (AAMAS) |
|---|---|
| Abbreviated title | AAMAS 2016 |
| Country/Territory | Singapore |
| Period | 9/05/16 → 13/05/16 |