DeepAI AI Chat
Log In Sign Up

Joint Communication and Motion Planning for Cobots

by   Mehdi Dadvar, et al.

The increasing deployment of robots in co-working scenarios with humans has revealed complex safety and efficiency challenges in the computation robot behavior. Movement among humans is one of the most fundamental – and yet critical – problems in this frontier. While several approaches have addressed this problem from a purely navigational point of view, the absence of a unified paradigm for communicating with humans limits their ability to prevent deadlocks and compute feasible solutions. This paper presents a joint communication and motion planning framework that selects from an arbitrary input set of robot's communication signals while computing robot motion plans. It models a human co-worker's imperfect perception of these communications using a noisy sensor model and facilitates the specification of a variety of social/workplace compliance priorities with a flexible cost function. Theoretical results and simulator-based empirical evaluations show that our approach efficiently computes motion plans and communication strategies that reduce conflicts between agents and resolve potential deadlocks.


CIAO^: MPC-based Safe Motion Planning in Predictable Dynamic Environments

Robots have been operating in dynamic environments and shared workspaces...

Socially intelligent task and motion planning for human-robot interaction

As social beings, much human behavior is predicated on social context - ...

Plan Explicability and Predictability for Robot Task Planning

Intelligent robots and machines are becoming pervasive in human populate...

Show Me What You Can Do: Capability Calibration on Reachable Workspace for Human-Robot Collaboration

Aligning humans' assessment of what a robot can do with its true capabil...

Safe Motion Planning for a Mobile Robot Navigating in Environments Shared with Humans

In this paper, a robot navigating an environment shared with humans is c...

Chance-Constrained Motion Planning with Event-Triggered Estimation

We consider the problem of autonomous navigation using limited informati...

Fast multipole networks

Two fundamental prerequisites for robotic multiagent systems are mobilit...