用智能边缘传感器预测人类行为，让服务机器人更安全高效协作。
Anticipating Human Behavior for Safe Navigation and Efficient Collaborative Manipulation with Mobile Service Robots
- 通过边缘传感器预测轨迹并投影到机器人规划地图中。
- 在搬运家具任务中预判意图，实现目标布局的协同完成。
- 系统集成展示人机协同布局摆放，提升安全与效率。
人类行为预测是机器人安全高效人机交互的关键能力。我们采用智能边缘传感器网络，提供全局观测、未来预测及目标信息，以实现移动操作机器人中前瞻性行为控制。提出两种方法：一是将智能边缘传感器观测到的人类轨迹预测投影至移动机器人的规划地图中，实现人类运动预测；二是针对协同家具搬运任务，预判人类意图以达成指定房间布局。实验表明，预测人类行为可显著提升导航安全性与协作效率。最后，我们展示了一个集成系统，在与操作员协作过程中实时预测人类行为，完成包括桌椅摆放在内的目标房间布局。
原文摘要 · Abstract (English)
The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observations, future predictions, and goal information to integrate anticipatory behavior for the control of a mobile manipulation robot. We present approaches to anticipate human behavior in the context of safe navigation and collaborative mobile manipulation. First, we anticipate human motion by employing projections of predicted human trajectories from smart edge sensor observations into the planning map of a mobile robot. Second, we anticipate human intentions in a collaborative furniture-carrying task to achieve a given room layout. Our experiments indicate that anticipating human behavior allows for safer navigation and more efficient collaboration. Finally, we showcase an integrated robotic system that anticipates human behavior while collaborating with an operator to achieve a target room layout, including the placement of tables and chairs.
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