Details
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA) |
| Pages | 2414-2420 |
| Number of pages | 7 |
| ISBN (electronic) | 978-1-7281-9077-8 |
| Publication status | Published - 16 Mar 2021 |
| Event | 2021 IEEE International Conference on Robotics and Automation, ICRA 2021 - Xi'an International Convention and Exhibition Center, Xi'an, China Duration: 30 May 2021 → 5 Jun 2021 |
Publication series
| Name | Proceedings. Robotics and automation |
|---|---|
| Publisher | IEEE |
| ISSN (Print) | 1050-4729 |
| ISSN (electronic) | 2577-087X |
Abstract
Keywords
- cs.RO
ASJC Scopus subject areas
- Computer Science(all)
- Software
- Computer Science(all)
- Artificial Intelligence
- Engineering(all)
- Electrical and Electronic Engineering
- Engineering(all)
- Control and Systems Engineering
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Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA). 2021. p. 2414-2420 (Proceedings. Robotics and automation).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Behavior-Tree-Based Person Search for Symbiotic Autonomous Mobile Robot Tasks
AU - Stuede, Marvin
AU - Lerche, Timo
AU - Petersen, Martin Alexander
AU - Spindeldreier, Svenja
N1 - Accepted for publication at ICRA 2021
PY - 2021/3/16
Y1 - 2021/3/16
N2 - We consider the problem of people search by a mobile social robot in case of a situation that cannot be solved by the robot alone. Examples are physically opening a closed door or operating an elevator. Based on the Behavior Tree framework, we create a modular and easily extendable action sequence with the goal of finding a person to assist the robot. By decomposing the Behavior Tree as a Discrete Time Markov Chain, we obtain an estimate of the probability and rate of success of the options for action, especially where the robot should wait or search for people.In a real-world experiment, the presented method is compared with other common approaches in a total of 588 test runs over the course of one week, starting at two different locations in a university building. We show our method to be superior to other approaches in terms of success rate and duration until a finding person and returning to the start location.
AB - We consider the problem of people search by a mobile social robot in case of a situation that cannot be solved by the robot alone. Examples are physically opening a closed door or operating an elevator. Based on the Behavior Tree framework, we create a modular and easily extendable action sequence with the goal of finding a person to assist the robot. By decomposing the Behavior Tree as a Discrete Time Markov Chain, we obtain an estimate of the probability and rate of success of the options for action, especially where the robot should wait or search for people.In a real-world experiment, the presented method is compared with other common approaches in a total of 588 test runs over the course of one week, starting at two different locations in a university building. We show our method to be superior to other approaches in terms of success rate and duration until a finding person and returning to the start location.
KW - cs.RO
UR - http://www.scopus.com/inward/record.url?scp=85125457856&partnerID=8YFLogxK
U2 - 10.1109/ICRA48506.2021.9561608
DO - 10.1109/ICRA48506.2021.9561608
M3 - Conference contribution
SN - 978-1-7281-9078-5
T3 - Proceedings. Robotics and automation
SP - 2414
EP - 2420
BT - Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA)
T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Y2 - 30 May 2021 through 5 June 2021
ER -