Advanced

A Comparative Evaluation of Human Motion Planning Policies

Papadopoulos, Alessandro Vittorio LU ; Bascetta, Luca and Ferretti, Gianni (2014) 19th IFAC World Congress, 2014
Abstract
A recently proposed approach to human intention estimation in goal-oriented motion is further improved in this paper. The main features of the approach are the fact that the unicycle model has been rewritten with the natural coordinate as the independent variable, avoiding the explicit dependence from the walking velocity and lowering the number of input variables to one, the proposal of a novel cost function, weighting not only the energy needed to perform the path but also the current distance of the human with respect to the target, and the adoption of the Frechét metric to assess the similarity of experimental and estimated paths. The proposed cost function is compared with other two cost functions, adopted in previous works, with... (More)
A recently proposed approach to human intention estimation in goal-oriented motion is further improved in this paper. The main features of the approach are the fact that the unicycle model has been rewritten with the natural coordinate as the independent variable, avoiding the explicit dependence from the walking velocity and lowering the number of input variables to one, the proposal of a novel cost function, weighting not only the energy needed to perform the path but also the current distance of the human with respect to the target, and the adoption of the Frechét metric to assess the similarity of experimental and estimated paths. The proposed cost function is compared with other two cost functions, adopted in previous works, with reference to experimental data. The performance improvements with respect to the previous approach are apparent, either from a qualitative point of view and from a statistical analysis of the error distances. (Less)
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Contribution to conference
publication status
in press
subject
pages
6 pages
conference name
19th IFAC World Congress, 2014
language
English
LU publication?
yes
id
ec4fe307-5eea-46e4-a594-f74efddb15c5 (old id 4362392)
date added to LUP
2014-03-30 14:12:11
date last changed
2016-06-27 12:58:34
@misc{ec4fe307-5eea-46e4-a594-f74efddb15c5,
  abstract     = {A recently proposed approach to human intention estimation in goal-oriented motion is further improved in this paper. The main features of the approach are the fact that the unicycle model has been rewritten with the natural coordinate as the independent variable, avoiding the explicit dependence from the walking velocity and lowering the number of input variables to one, the proposal of a novel cost function, weighting not only the energy needed to perform the path but also the current distance of the human with respect to the target, and the adoption of the Frechét metric to assess the similarity of experimental and estimated paths. The proposed cost function is compared with other two cost functions, adopted in previous works, with reference to experimental data. The performance improvements with respect to the previous approach are apparent, either from a qualitative point of view and from a statistical analysis of the error distances.},
  author       = {Papadopoulos, Alessandro Vittorio and Bascetta, Luca and Ferretti, Gianni},
  language     = {eng},
  pages        = {6},
  title        = {A Comparative Evaluation of Human Motion Planning Policies},
  year         = {2014},
}