Lecture 10 - Human Aware Navigation

Question 1

Name the three ways to apporach the human-aware navigation problem:
From a …… perspective:

Answer 1

1. technological
2. experimental
3. technological

Question 2

Rationale for human-aware navigation research

Answer 2

• robots operate more frequently in human environments

- for humans to feel comfortable, robots need to know how to navigate in an acceptable and comfortable way

Question 3

concepts for human-aware navigation (name 4):

Answer 3

1. comfort: absence of annoyance and stress
2. naturalness: similarity between robot behavior and human behavior
3. socialibility: adherence to cultural conventions
4. safety: physical and perceived safety

Question 4

What is the social equilibrium theory?

Answer 4

You can be close to someone when you make eye contact

Question 5

What is proxemixs?

Answer 5

The study of spatial distances individuals maintain in social and interpersonal situations

Question 6

What types or shapes of personal space do we create?

Answer 6

No vision in the back makes us feel uncomfortable

Elliptical space takes intended or current motion into account

Assymmetrical: taking the dominant hand into account

Question 7

What are the three space types found in Kendon’s model?

Answer 7

O-space: shared interaction or focus of attention
P-space: group participant space
R-space: remainder

Question 8

Experimental approach:

Main tasks for robots navigating in human environments (3):

Answer 8

1. approach people
2. avoid people
3. do not occupy spaces used by people

Question 9

What does the ultimate approach of a robot depends on (5, …)?

Answer 9

type of robot
user group
robot behaviour and capabilities
activity of user
personality of user
overall context

Question 10

Overall conclusions about distance:

Answer 10

comfort increases with distance

not circular: extended towards the back

no difference between left and right

results between two robots are quite comparable

Question 11

Results about comfortable crossing strategies:

Answer 11

• crossing angle of -45* leads to a deviation to the left
• deviation is larger with a constant or increased speed change
• deviation s larger when the robot arrives earlier
• larger deviation leads to lower perceived comfort and higher perceived effort

Question 12

Assumptions in particle filter simulation:

Answer 12

• known location and orientation of the person in the world
• known location and orientation of the robot in the world
• in simulation: known obstacles