Abstract
The work at hand addresses the question: What kind of navigation behavior do humans expect from a robot in a path crossing scenario? To this end, we developed the ”Inverse Oz of Wizard” study design where participants steered a robot in a scenario in which an instructed person is crossing the robot’s path. We investigated two aspects of robot behavior: (1) what are the expected actions? and (2) can we determine the expected action by considering the spatial relationship?
The overall navigation strategy, that was performed the most, was driving straight towards the goal and either stop when the person and the robot came close or drive on towards the goal and pass the path of the person. Furthermore, we found that the spatial relationship is significantly correlated with the performed action and we can precisely predict the expected action by using a Support Vector Machine.
This work has partially been founded by the the Clusters of Excellence ”Cognitive Interaction Technology” CITEC (EXC 277) and ”Cognition for Technical Systems” CoTeSys (EXC 142). We would like to express special thanks to the Social Motor Learning Lab of the Neurocognition and Action Group (Prof.Dr. Thomas Schack) at Bielefeld University and to William Marshall Land and Bernhard Brüning for assisting the authors with the VICON system.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Althaus, P., Ishiguro, H., Kanda, T., Miyashita, T., Christensen, H.I.: Navigation for Human-Robot Interaction Tasks. In: IEEE International Conference on Robotics and Automation (2004)
Arkin, R.C.: Behavior-Based Robotics. MIT Press (1998)
Basili, P., Sag, M., Kruse, T., Huber, M., Kirsch, A., Glasauer, S.: Strategies of Locomotor Collision Avoidance. Gait & Posture (2012)
Butler, J.T., Agah, A.: Psychological Effects of Behavior Patterns of a Mobile Personal Robot. In: Autonomous Robots (2001)
Chang, C.-C., Lin, C.-J.: LIBSVM: A Library for Support Vector Machines. ACM Transactions on Intelligent Systems and Technology 2 (2011), Software available at http://www.csie.ntu.edu.tw/~cjlin/libsvm
Cristianini, N., Shawe-Taylor, J.: An Introduction to Support Vector Machines and Other Kernel-Based Learning Methods. Cambridge University Press (2000)
Dautenhahn, K., Walters, M., Woods, S., Koay, K.L., Nehaniv, C.L., Sisbot, A., Alami, R., Siméon, T.: How I Serve You? A Robot Companion Approaching a Seated Person in a Helping Context. In: ACM SIGCHI/SIGART Conference on Human-Robot Interaction (2006)
Dautenhahn, K.: Methodology and Themes of Human-Robot Interaction: A Growing Research Field. International Journal of Advanced Robotic Systems (2007)
Green, A., Huttenrauch, H., Severinson Eklundh, K.: Applying the Wizard-of-Oz Framework to Cooperative Service Discovery and Configuration. In: IEEE International Workshop on Robot and Human Interactive Communication (2004)
Hall, E.T.: The Hidden Dimension. Anchor Books, New York (1969)
Hanheide, M., Peters, A., Bellotto, N.: Analysis of Human-Robot Spatial Behaviour Applying a Qualitative Trajectory Calculus. In: IEEE International Workshop on Robot and Human Interactive Communication (2012)
Hüttenrauch, H., Severinson Eklundh, K., Green, A., Topp, E.A.: Investigating Spatial Relationships in Human-Robot Interaction. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2006)
Kendon, A.: Conducting Interaction: Patterns of Behavior in Focused Encounters, vol. 7. CUP Archive (1990)
Kirby, R., Simmons, R., Forlizzi, J.: COMPANION: A Constraint-Optimizing Method for Person-Acceptable Navigation. In: IEEE International Symposium on Robot and Human Interactive Communication (2009)
Kruse, T., Kirsch, A., Akin Sisbot, E., Alami, R.: Dynamic Generation and Execution of Human Aware Navigation Plans. In: International Conference on Autonomous Agents and Multiagent Systems (2010)
Kruse, T., Pandey, A.K., Alami, R., Kirsch, A.: Human-Aware Robot Navigation: A Survey. Robotics and Autonomous Systems (2013)
Lichtenthäler, C., Lorenz, T., Kirsch, A.: Influence of Legibility on Perceived Safety in a Virtual Human-Robot Path Crossing Task. In: IEEE International Symposium on Robot and Human Interactive Communication (2012)
Lichtenthäler, C., Peters, A., Griffiths, S., Kirsch, A.: Be a Robot! Robot Navigation Patterns in a Path Crossing Scenario. In: Proceedings of the 8th ACM/IEEE International Conference on Human Robot Interaction (2013)
Mumm, J., Mutlu, B.: Human-Robot Proxemics: Physical and Psychological Distancing in Human-Robot Interaction. In: ACM/IEEE International Conference on Human-Robot Interaction (2011)
Pacchierotti, E., Christensen, H.I., Jensfelt, P.: Human-Robot Embodied Interaction in Hallway Settings: a Pilot User Study. In: IEEE International Workshop on Robot and Human Interactive Communication. IEEE (2005)
Sisbot, E.A., Marin-Urias, L.F., Alami, R., Simeon, T.: A Human Aware Mobile Robot Motion Planner. IEEE Transactions on Robotics 23 (2007)
Steinfeld, A., Fong, T., Kaber, D., Lewis, M., Scholtz, J., Schultz, A., Goodrich, M.: Common Metrics for Human-Robot Interaction. In: ACM SIGCHI/SIGART Conference on Human-Robot Interaction (2006)
Steinfeld, A., Jenkins, O.C., Scassellati, B.: The Oz of Wizard: Simulating the Human for Interaction Research. In: ACM/IEEE International Conference on Human-Robot Interaction (2009)
Takayama, L., Pantofaru, C.: Influences on Proxemic Behaviors in Human-Robot Interaction. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2009)
Tranberg Hansen, S., Svenstrup, M., Andersen, H.J., Bak, T.: Adaptive Human Aware Navigation Based on Motion Pattern Analysis. In: IEEE International Symposium on Robot and Human Interactive Communication (2009)
Yoda, M., Shiota, Y.: The Mobile Robot which Passes a Man. In: IEEE International Workshop on Robot and Human Communication (1997)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Lichtenthäler, C., Peters, A., Griffiths, S., Kirsch, A. (2013). Social Navigation - Identifying Robot Navigation Patterns in a Path Crossing Scenario. In: Herrmann, G., Pearson, M.J., Lenz, A., Bremner, P., Spiers, A., Leonards, U. (eds) Social Robotics. ICSR 2013. Lecture Notes in Computer Science(), vol 8239. Springer, Cham. https://doi.org/10.1007/978-3-319-02675-6_9
Download citation
DOI: https://doi.org/10.1007/978-3-319-02675-6_9
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-02674-9
Online ISBN: 978-3-319-02675-6
eBook Packages: Computer ScienceComputer Science (R0)