Reactive Planning for Coordinated Handover of an Autonomous Aerial Manipulator

IF 4.2 Q2 ROBOTICS

ACM Transactions on Human-Robot Interaction Pub Date : 2023-03-13 DOI:10.1145/3568294.3580055

Jérôme Truc, D. Sidobre, R. Alami

引用次数: 0

Abstract

In this paper, we present a coordinated and reactive human-aware motion planner for performing a handover task by an autonomous aerial manipulator (AAM). We present a method to determine the final state of the AAM for a handover task based on the current state of the human and the surrounding obstacles. We consider the visual field of the human and the effort to turn the head and see the AAM as well as the discomfort caused to the human. We apply these social constraints together with the kinematic constraints of the AAM to determine its coordinated motion along the trajectory.

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自主航空机械臂协调交接的反应性规划

在本文中，我们提出了一个协调和反应的人类感知运动规划器，用于执行自主空中机械臂(AAM)的切换任务。我们提出了一种基于人的当前状态和周围障碍物来确定交接任务的AAM最终状态的方法。我们考虑了人的视野和努力转过头来看到AAM以及对人造成的不适。我们将这些社会约束与AAM的运动学约束结合起来确定其沿轨迹的协调运动。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

ACM Transactions on Human-Robot Interaction Computer Science-Artificial Intelligence

CiteScore

7.70

自引率

5.90%

发文量

期刊介绍： ACM Transactions on Human-Robot Interaction (THRI) is a prestigious Gold Open Access journal that aspires to lead the field of human-robot interaction as a top-tier, peer-reviewed, interdisciplinary publication. The journal prioritizes articles that significantly contribute to the current state of the art, enhance overall knowledge, have a broad appeal, and are accessible to a diverse audience. Submissions are expected to meet a high scholarly standard, and authors are encouraged to ensure their research is well-presented, advancing the understanding of human-robot interaction, adding cutting-edge or general insights to the field, or challenging current perspectives in this research domain. THRI warmly invites well-crafted paper submissions from a variety of disciplines, encompassing robotics, computer science, engineering, design, and the behavioral and social sciences. The scholarly articles published in THRI may cover a range of topics such as the nature of human interactions with robots and robotic technologies, methods to enhance or enable novel forms of interaction, and the societal or organizational impacts of these interactions. The editorial team is also keen on receiving proposals for special issues that focus on specific technical challenges or that apply human-robot interaction research to further areas like social computing, consumer behavior, health, and education.