An Adaptive and Proactive Human-Aware Robot Guide

  • Michelangelo Fiore
  • Harmish Khambhaita
  • Grégoire Milliez
  • Rachid Alami
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9388)


In this paper we present a robotic system able to guide a person to a destination in a socially acceptable way. Our robot is able to estimate if the user is still actively following and react accordingly. This is achieved by stopping and waiting for the user or by changing the robot’s speed to adapt to his needs. We also investigate how the robot can influence a person’s behavior by changing its speed, to account for the urgency of the current task or for environmental stimulus, and by interacting with him when he stops following it. We base the planning model on Hierarchical Mixed Observability Markov Decision Processes to decompose the task in smaller subsets, simplifying the computation of a solution. Experimental results suggest the efficacy of our model.


Robot Navigation Computer Support Cooperative Work Proactive Behavior Situation Assessment Supervision System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer International Publishing Switzerland 2015

Open Access This chapter is distributed under the terms of the Creative Commons Attribution Noncommercial License, which permits any noncommercial use, distribution, and reproduction in any medium, provided the original author(s) and source are credited.

Authors and Affiliations

  • Michelangelo Fiore
    • 1
  • Harmish Khambhaita
    • 1
  • Grégoire Milliez
    • 1
  • Rachid Alami
    • 1
  1. 1.Université de Toulouse, LAAS-CNRS Institut CarnotToulouseFrance

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