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How A Navigating Robot Decides Whether To Exploit Human Cooperation: Potential Co-Cost Minimization Principle

Abstract : Human aware robot navigation, which takes human factors into account, has been researched more and more for mobile robotics. Navigating in a human existing environment, a robot had better neither neglect potential human cooperation nor always exploit human cooperation. In this paper, we propose the potential co-cost minimization principle (PCCMP) and the generic PCCMP architecture in the context of human aware robot navigation. We describe a concrete instantiation of the PCCMP and demonstrate with simulation results how the PCCMP architecture enables a robot to flexibly and reasonably decide whether to exploit human cooperation according to concrete scenario conditions.
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https://hal.sorbonne-universite.fr/hal-02423114
Contributor : Mohamed Chetouani <>
Submitted on : Monday, December 23, 2019 - 3:53:26 PM
Last modification on : Thursday, July 8, 2021 - 3:51:00 AM
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Hao Li, Mohamed Chetouani. How A Navigating Robot Decides Whether To Exploit Human Cooperation: Potential Co-Cost Minimization Principle. HRI 2014 Workshop on Algorithmic Human-Robot Interaction, Bielefeld, Germany, Mar 2014, Bielefeld, Germany. ⟨hal-02423114⟩

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