Duckworth, P orcid.org/0000-0001-9052-6919, Gatsoulis, Y, Jovan, F orcid.org/0000-0003-4911-540X et al. (3 more authors) (2016) Unsupervised Learning of Qualitative Motion Behaviours by a Mobile Robot. In: Thangarajah, J, Tuyls, K, Jonker, C and Marsella, S, (eds.) Proceedings of the 15th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2016). International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 09-13 May 2016, Singapore. International Foundation for Autonomous Agents and Multiagent Systems , pp. 1043-1051. ISBN 978-1-4503-4239-1
Abstract
The success of mobile robots, in daily living environments, depends on their capabilities to understand human movements and interact in a safe manner. This paper presents a novel unsupervised qualitative-relational framework for learning human motion patterns using a single mobile robot platform. It is capable of learning human motion patterns in real-world environments, in order to predict future behaviours. This previously untackled task is challenging because of the limited field of view provided by a single mobile robot. It is only able to observe one location at any time, resulting in incomplete and partial human detections and trajectories. Central to the success of the presented framework is mapping the detections into an abstract qualitative space, and then characterising motion invariant to exact metric position. This framework was used by a physical robot autonomously patrolling an office environment during a six week deployment. Experimental results from this deployment demonstrate the effectiveness and applicability of the system.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Editors: |
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Keywords: | Machine learning for robotics; Qualitative Spatial Representations; Mobile Robotics; Unsupervised Learning; Unsupervised Learning; Human Robot Interfaces |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Computing (Leeds) |
Funding Information: | Funder Grant number EU - European Union FP7-ICT-600623 |
Depositing User: | Symplectic Publications |
Date Deposited: | 04 Mar 2016 15:39 |
Last Modified: | 12 Dec 2024 13:29 |
Published Version: | http://www.aamas-conference.org/proceedings.html |
Status: | Published |
Publisher: | International Foundation for Autonomous Agents and Multiagent Systems |
Identification Number: | 10.3233/978-1-61499-672-9-1062 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:95870 |