Socially Competent Robot Navigation
Cornell University –
Crowded human environments such as pedestrian scenes constitute challenging domains for mobile robots, for a variety of reasons including the heterogeneity of pedestrians’ decision making mechanisms, the lack of universal formal rules regulating traffic, the lack of channels of explicit communication with them, robot hardware limitations etc. State-of-the-art approaches for planning socially compliant robot motion tend to hard-code social norms or directly imitate observed human behaviors, thus exhibiting poor generalization to different environments and contexts, and often lack a thorough, in-depth validation, raising questions about reproducibility. To address these gaps, we have proposed a family of planning algorithms that employ mathematical abstractions from topology and physics to model multi-agent dynamics and follow design principles extracted from studies on human behavior. Our algorithms leverage the collaborative nature of human navigation as well as the human mechanisms of nonverbal communication and teleological inference to generate consistently intent-expressive and socially compliant robot motion in the context of a dynamic, multi-agent environment.
Evidence extracted from an online user study suggests that humans perceive the motion generated by our framework as more legible compared to the motion generated by two widely employed baselines. This is in parallel to our findings from extensive lab experiments suggesting that human motion is smoother when navigating around a robot running our algorithm. In this talk, I will present the mathematical and computational foundations of our approach,summarize our key findings and discuss potential directions for future work
Christoforos (Chris) Mavrogiannis is a final-year PhD candidate in Mechanical Engineering at Cornell University where he works with Prof. Ross A. Knepper at the Robotic Personal Assistants Lab. His research is focused on the design of planning algorithms for the generation of intent-expressive and socially compliant robot motion in crowded human environments. His work draws inspiration from psychology and sociology studies on human behavior and tools from topology, machine learning, path planning and human-robot interaction. In the past, he worked on the development of grasp planning algorithms for multi-fingered robot hands and on the mechanical design of adaptive robotic and prosthetic hands as a member of the open-source
initiative OpenBionics. Christoforos holds an MS in Mechanical Engineering from Cornell University (2016) and a Diploma in Mechanical Engineering from the National Technical
University of Athens (2013). He was a best paper finalist at the IEEE/ACM International Conference on Human-Robot Interaction and selected as a participant in the HRI and RSS Pioneers doctoral consortia.
Date: 2018-Nov-13 Time: 11:00:00 Room: Room 1.38 – IST Taguspark
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INESC Lisboa 2023 Annual Meeting
On November 3rd will take place the first Meeting of INESC Lx, a consortium of the INESC institutions based in Lisbon: INESC-ID, INOV and INESC MN.
The event will take place at Hotel Golf Mar, in Vimeiro, giving all the participants the opportunity to discuss and share the work being developed at INESC Lx. The agenda includes in the Opening Session the President of the Commission for Regional Development and Coordination of Lisbon and Tagus Valley (CCDR LVT), Teresa Almeida and in the Closing Session the Portuguese Minister of Economy, António da Costa Silva.
If you are a member of INESC Lx you can register here by September 29th.
About INESC Lisboa
INESC Lisboa is a unique research consortium in Portugal, representing INESC-ID, INESC MN and INOV, research institutions in the areas of computer science, electronics and computer engineering, and physics engineering in Lisbon. Its mission is to facilitate synergies among the institutes to promote the Research, Development, and Innovation (R&D+i) made in Portugal.
OLISSIPO Workshop: “Metabolism and mathematical models: Two for a tango”
The 3rd Edition of the workshop “Metabolism and mathematical models: Two for a tango” will take place online on November 14-15, 2023.
The topic of the workshop is metabolism in general. As in the previous cases, a special focus will be placed on parasitology. Besides an exploration of the biological, biochemical and biomedical aspects of metabolism, the workshop will also aim at presenting some of the mathematical modelling, algorithmic theory and software development that have become crucial to explore such aspects.
More details will soon be provided but initial information may be already found here.
- Barbara Bakker (Faculty of Medical Sciences, University of Groningen, The Netherlands)
- Igor Cestari (Institute of Parasitology, McGill University, Montréal, Canada)
- Vassily Hatzimanikatis (École Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland)
- Steffen Klamt (Max Planck Institute for Dynamics of Complex Technical Systems, Magdeburg, Germany)
- Ina Koch (Goethe Universität, Frankfurt am Main, Germany)
- Laura-Isobel McCall (San Diego State University, US)
Besides the talks given by the above Keynote speakers, there will be two sessions, one per day, of 30 minutes each, dedicated to a discussion of some specific open questions. More details on these will be provided very soon.The workshop will take place in the afternoons, from 2pm to 5:30pm CET time.