预测人类行为以实现移动服务机器人的安全导航与高效协作操作
Anticipating Human Behavior for Safe Navigation and Efficient Collaborative Manipulation with Mobile Service Robots
AI总结：
本文利用智能边缘传感器网络预测人类行为，提出轨迹投影和意图预测方法，实现移动服务机器人的安全导航与高效协作操作。
摘要：
预测人类行为是机器人与人类安全高效交互的关键能力。我们采用智能边缘传感器网络提供全局观测、未来预测和目标信息，以将预测行为集成到移动操作机器人的控制中。我们提出了在安全导航和协作移动操作背景下预测人类行为的方法。首先，通过将智能边缘传感器观测预测的人类轨迹投影到移动机器人的规划地图中，来预测人类运动。其次，在协作搬运家具以实现给定房间布局的任务中预测人类意图。实验表明，预测人类行为可实现更安全的导航和更高效的协作。最后，我们展示了一个集成机器人系统，该系统在与操作员协作实现目标房间布局（包括桌椅摆放）的同时预测人类行为。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
