Leader-follower coordinated control based on socially acceptable dynamics

Daniel Herrera; Julio Montesdeoca; Flavio Roberti; Marcos Toibero; Ricardo Carelli

doi:10.1109/RPIC.2015.7497155

Leader-follower coordinated control based on socially acceptable dynamics

Daniel Herrera, Julio Montesdeoca, Flavio Roberti, Marcos Toibero, Ricardo Carelli

Research output: Contribution to conference › Paper

1 Scopus citations

Abstract

© 2015 IEEE. A complete characterization of the behavior in human-robot interaction (HRI) includes both: the behavior dynamic and the control laws that characterize as the behavior is regulated with the perception information. In this way, the present work proposes a leader-follower coordinated control that allows to include special dynamic behaviors between humans. Additionally these have been supported by social rules of proxemics and dynamic models of human-behavior that guarantee more comfortable interactions. For the detection and following of the human, it is used a Kinect® sensor on board of a Pioneer 3AT® robot (a differential drive robot), which allows the experimental validation of the proposed scheme of control.

Original language	English
DOIs	https://doi.org/10.1109/RPIC.2015.7497155
State	Published - 21 Jun 2016
Externally published	Yes
Event	2015 16th Workshop on Information Processing and Control, RPIC 2015 - Cordoba, Argentina Duration: 6 Oct 2016 → 9 Oct 2016

Conference

Conference	2015 16th Workshop on Information Processing and Control, RPIC 2015
Abbreviated title	RPIC 2015
Country/Territory	Argentina
City	Cordoba
Period	6/10/16 → 9/10/16

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10.1109/RPIC.2015.7497155

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title = "Leader-follower coordinated control based on socially acceptable dynamics",

abstract = "{\textcopyright} 2015 IEEE. A complete characterization of the behavior in human-robot interaction (HRI) includes both: the behavior dynamic and the control laws that characterize as the behavior is regulated with the perception information. In this way, the present work proposes a leader-follower coordinated control that allows to include special dynamic behaviors between humans. Additionally these have been supported by social rules of proxemics and dynamic models of human-behavior that guarantee more comfortable interactions. For the detection and following of the human, it is used a Kinect{\textregistered} sensor on board of a Pioneer 3AT{\textregistered} robot (a differential drive robot), which allows the experimental validation of the proposed scheme of control.",

author = "Daniel Herrera and Julio Montesdeoca and Flavio Roberti and Marcos Toibero and Ricardo Carelli",

year = "2016",

month = jun,

day = "21",

doi = "10.1109/RPIC.2015.7497155",

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T1 - Leader-follower coordinated control based on socially acceptable dynamics

AU - Herrera, Daniel

AU - Montesdeoca, Julio

AU - Roberti, Flavio

AU - Toibero, Marcos

AU - Carelli, Ricardo

PY - 2016/6/21

Y1 - 2016/6/21

N2 - © 2015 IEEE. A complete characterization of the behavior in human-robot interaction (HRI) includes both: the behavior dynamic and the control laws that characterize as the behavior is regulated with the perception information. In this way, the present work proposes a leader-follower coordinated control that allows to include special dynamic behaviors between humans. Additionally these have been supported by social rules of proxemics and dynamic models of human-behavior that guarantee more comfortable interactions. For the detection and following of the human, it is used a Kinect® sensor on board of a Pioneer 3AT® robot (a differential drive robot), which allows the experimental validation of the proposed scheme of control.

AB - © 2015 IEEE. A complete characterization of the behavior in human-robot interaction (HRI) includes both: the behavior dynamic and the control laws that characterize as the behavior is regulated with the perception information. In this way, the present work proposes a leader-follower coordinated control that allows to include special dynamic behaviors between humans. Additionally these have been supported by social rules of proxemics and dynamic models of human-behavior that guarantee more comfortable interactions. For the detection and following of the human, it is used a Kinect® sensor on board of a Pioneer 3AT® robot (a differential drive robot), which allows the experimental validation of the proposed scheme of control.

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U2 - 10.1109/RPIC.2015.7497155

DO - 10.1109/RPIC.2015.7497155

M3 - Paper

T2 - 2015 16th Workshop on Information Processing and Control, RPIC 2015

Y2 - 6 October 2016 through 9 October 2016

ER -

Leader-follower coordinated control based on socially acceptable dynamics

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