An approach of social navigation based on proxemics for crowded environments of humans and robots

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dc.contributor.advisorBarrios Aranibar, Dennis
dc.contributor.authorDaza Guardamino, Marcos Julio
dc.date.accessioned2021-10-18T15:45:58Z
dc.date.available2021-10-18T15:45:58Z
dc.date.issued2021
dc.description.abstractNowadays, mobile robots are playing an important role in different areas of science, industry, academia and even in everyday life. In this sense, their abilities and behaviours become increasingly complex. In particular, in indoor environments, such as hospitals, schools, banks and museums, where the robot coincides with people and other robots, its movement and navigation must be programmed and adapted to robot–robot and human–robot interactions. However, existing approaches are focused either on multi-robot navigation (robot–robot interaction) or social navigation with human presence (human–robot interaction), neglecting the integration of both approaches. Proxemic interaction is recently being used in this domain of research, to improve Human–Robot Interaction (HRI). In this context, we propose an autonomous navigation approach for mobile robots in indoor environments, based on the principles of proxemic theory, integrated with classical navigation algorithms, such as ORCA, Social Momentum, and A*. With this novel approach, the mobile robot adapts its behaviour, by analysing the proximity of people to each other, with respect to it, and with respect to other robots to decide and plan its respective navigation, while showing acceptable social behaviours in presence of humans. We describe our proposed approach and show how proxemics and the classical navigation algorithms are combined to provide an effective navigation, while respecting social human distances. To show the suitability of our approach, we simulate several situations of coexistence of robots and humans, demonstrating an effective social navigation.es_PE
dc.description.uriTrabajo académicoes_PE
dc.identifier.doihttps://doi.org/10.3390/mi12020193es_PE
dc.identifier.issn2072-666X
dc.identifier.urihttps://hdl.handle.net/20.500.12590/16883
dc.language.isoenges_PE
dc.publisherMDPIes_PE
dc.publisher.countrySuizaes_PE
dc.relationinfo:eu-repo/semantics/articlees_PE
dc.relation.urihttps://www.mdpi.com/2072-666X/12/2/193es_PE
dc.rightsinfo:eu-repo/semantics/restrictedAccesses_PE
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/es_PE
dc.sourceUniversidad Católica San Pabloes_PE
dc.sourceRepositorio Institucional - UCSPes_PE
dc.subjectMobile robotses_PE
dc.subjectSocial navigationes_PE
dc.subjectSocial momentumes_PE
dc.subjectProxemicses_PE
dc.subjectProxemic interactionses_PE
dc.subject.ocdehttp://purl.org/pe-repo/ocde/ford#2.02.02es_PE
dc.titleAn approach of social navigation based on proxemics for crowded environments of humans and robotses_PE
dc.typeinfo:eu-repo/semantics/article
dc.type.versioninfo:eu-repo/semantics/publishedVersiones_PE
renati.advisor.dni40390913
renati.advisor.orcidhttps://orcid.org/0000-0001-7482-3390es_PE
renati.author.dni46750305
renati.discipline712096es_PE
renati.jurorEber Huanca Cayoes_PE
renati.jurorVictor Alfonzo Cornejo Arismendies_PE
renati.levelhttps://purl.org/pe-repo/renati/level#tituloProfesional
renati.typehttps://purl.org/pe-repo/renati/type#trabajoAcademico
thesis.degree.disciplineIngeniería Electrónica y de Telecomunicacioneses_PE
thesis.degree.grantorUniversidad Católica San Pablo. Departamento de Ingeniería Eléctrica y Electrónicaes_PE
thesis.degree.levelTítulo Profesionales_PE
thesis.degree.nameIngeniero Electrónico y de Telecomunicacioneses_PE
thesis.degree.programEscuela Profesional de Ingeniería Electrónica y de Telecomunicacioneses_PE
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