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Cooperative robots in people guidance mission: DTM model validation and local optimization motion
Garrell Zulueta, Anais; Sanfeliu Cortés, Alberto
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel.ligents
This work presents a novel approach for optimizing locally the work of cooperative robots and obtaining the minimum displacement of humans in a guiding people mission. This problem is addressed by introducing a “Discrete Time Motion” model (DTM) and a new cost function that minimizes the work required by robots for leading and regrouping people. Furthermore, an analysis of forces actuating among robots and humans is presented throughout simulations of different situations of robot and human configurations and behaviors. Finally, we describe the process of modeling and validation by simulation that have been used to explore the new possibilities of interaction when humans are guided by teams of robots that work cooperatively in urban areas.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Mobile robots
Multi-robot systems
Service robots
mobile robots multi-robot systems service robots
Robots mòbils -- Disseny i construcció
Attribution-NonCommercial-NoDerivs 3.0 Spain

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