Interpretation and Communication of Pedestrian Intentions Using Braid Groups
نویسندگان
چکیده
We present a novel framework for socially competent pedestrian navigation based on understanding pedestrians’ intentions and planning intent-expressive robot motion. We model pedestrians’ intentions as combinations of intended topological routes and intended destinations. The core of this approach is a novel topological representation of a pedestrian scene, based on braid groups. This representation is used as a basis for the development of an online navigation algorithm, designed according to conclusions of recent psychology studies on action interpretation and sociology studies on human pedestrian behavior. Simulation results demonstrate the potential of our approach for use in real world pedestrian environments.
منابع مشابه
Towards Socially Competent Navigation of Pedestrian Environments
We present a planning framework for producing socially competent robot behaviors in pedestrian environments. The framework is designed according to conclusions of recent psychology studies on action interpretation and sociology studies on human pedestrian behavior. The core of the approach is a novel topological representation of the pedestrian scene, based on braid groups. Thanks to this repre...
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