Person-Following Controller with Socially Acceptable Robot Motion

This work presents a novel stable controller for the person-following task that includes social considerations for a differential drive mobile robot equipped with an RGB-D camera and a laser range finder as main sensors. The proposed controller adapts its behavior based on the knowledge of both: a modified personal space distribution and human user velocity. Control objectives are focused hence on keeping the human user within the camera's field-of-view while the mobile robot follows it, with a socially acceptable motion through arbitrary paths. To show the good behavior of this proposal, simulation and real experimental results are included and discussed. The asymptotic stability of the overall system is proved through the Lyapunov theory. Also, in our proposal, three state-of-the-art algorithms were integrated with the controller. In particular, a new real-time multi-person skeletal tracking system is used to obtain the relative human–robot position, a text to speech algorithm is used to confirm the commands given by the human, and also, a SLAM algorithm is used to obtain the map of the environment while the main task is being performed. Additionally, a hand gesture recognition module is included to interact with the mobile robot. This way, the robot is allowed to navigate with a socially-aware behavior in environments shared with humans. Finally, subjective and objective metrics are used as a validation method for human perception about the achieved robot motion.Fil: Montesdeoca, Julio. Universidad Politécnica Salesiana; EcuadorFil: Toibero, Juan Marcos. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Jordan, Julian. Eberhard Karls Universität Tübingen; AlemaniaFil: Zell, Andreas. Eberhard Karls Universität Tübingen; AlemaniaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentin

Trajectory tracking of a mini four-rotor helicopter in dynamic environments - a linear algebra approach

This paper presents the design of a controller that allows a four-rotor helicopter to track a desired trajectory in 3D space. To this aim, a dynamic model obtained from Euler-Lagrange equations describes the robot. This model is represented by numerical methods, with which the control actions for the operation of the system are obtained. The proposed Controller is simple and presents good performance in face of uncertainties in the model of the system to be controlled. Zero-convergence proof is included, and simulation results show a good performance of the control system.Fil: Rosales, Claudio Dario. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Gandolfo, Daniel. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Jordan, Mario Alberto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - Bahía Blanca. Instituto Argentino de Oceanografía. Universidad Nacional del Sur. Instituto Argentino de Oceanografía; ArgentinaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentin