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Authors: Michael Arndt and Karsten Berns

Affiliation: University of Kaiserslautern, Germany

Keyword(s): Mobile Robot Path Planning, Safety, Human Motion Prediction, Human Aware Planning, Ambient Intelligence, Smart Environment.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Perception and Awareness ; Robotics and Automation

Abstract: It is a common goal to improve safety and performance of mobile indoor robots by predicting the movements of people in the surroundings. In contrast to many related works which exclusively employ sensors mounted on mobile robots, this work shows a method to achieve this goal in a smart environment where external sensors are used to sense people’s positions. By using probabilistic models and filters, the evolution of the environment’s state is predicted and optimal paths with respect to safety and performance are planned. Experiments in reality and in a simulation environment show the applicability in real-world scenarios and the advantages over classical path planning approaches.

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Paper citation in several formats:
Arndt, M. and Berns, K. (2015). Safe Predictive Mobile Robot Navigation in Aware Environments. In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-123-6; ISSN 2184-2809, SciTePress, pages 15-23. DOI: 10.5220/0005509500150023

@conference{icinco15,
author={Michael Arndt. and Karsten Berns.},
title={Safe Predictive Mobile Robot Navigation in Aware Environments},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2015},
pages={15-23},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005509500150023},
isbn={978-989-758-123-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Safe Predictive Mobile Robot Navigation in Aware Environments
SN - 978-989-758-123-6
IS - 2184-2809
AU - Arndt, M.
AU - Berns, K.
PY - 2015
SP - 15
EP - 23
DO - 10.5220/0005509500150023
PB - SciTePress

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