Toward Safe and Efficient Human-Robot Interaction via Behavior-Driven Danger Signaling

02/09/2021
by   Mehdi Hosseinzadeh, et al.
0

This paper introduces the notion of danger awareness in the context of Human-Robot Interaction (HRI), which decodes whether a human is aware of the existence of the robot, and illuminates whether the human is willing to engage in enforcing the safety. This paper also proposes a method to quantify this notion as a single binary variable, so-called danger awareness coefficient. By analyzing the effect of this coefficient on the human's actions, an online Bayesian learning method is proposed to update the belief about the value of the coefficient. It is shown that based upon the danger awareness coefficient and the proposed learning method, the robot can build a predictive human model to anticipate the human's future actions. In order to create a communication channel between the human and the robot, to enrich the observations and get informative data about the human, and to improve the efficiency of the robot, the robot is equipped with a danger signaling system. A predictive planning scheme, coupled with the predictive human model, is also proposed to provide an efficient and Probabilistically safe plan for the robot. The effectiveness of the proposed scheme is demonstrated through simulation studies on an interaction between a self-driving car and a pedestrian.

READ FULL TEXT

page 2

page 4

page 5

page 6

page 7

page 8

page 9

page 10

research
08/01/2022

Safe and Efficient Exploration of Human Models During Human-Robot Interaction

Many collaborative human-robot tasks require the robot to stay safe and ...
research
09/29/2021

Safety Assurances for Human-Robot Interaction via Confidence-aware Game-theoretic Human Models

An outstanding challenge with safety methods for human-robot interaction...
research
12/11/2018

Guided Exploration of Human Intentions for Human-Robot Interaction

Robot understanding of human intentions is essential for fluid human-rob...
research
10/02/2021

SHARP: Shielding-Aware Robust Planning for Safe and Efficient Human-Robot Interaction

Jointly achieving safety and efficiency in human-robot interaction (HRI)...
research
10/24/2021

Model Predictive Control with Gaussian Processes for Flexible Multi-Modal Physical Human Robot Interaction

Physical human-robot interaction can improve human ergonomics, task effi...
research
10/28/2020

Model Minimization For Online Predictability

For humans in a teaming scenario, context switching between reasoning ab...
research
07/03/2019

Sensing Volume Coverage of Robot Workspace using On-Robot Time-of-Flight Sensor Arrays for Safe Human Robot Interaction

In this paper, an analysis of the sensing volume coverage of robot works...

Please sign up or login with your details

Forgot password? Click here to reset