A Comparative Evaluation of Human Motion Planning Policies
(2014) 19th IFAC World Congress, 2014 In IFAC Proceedings Volumes 47(3). p.12299-12304- 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:
https://lup.lub.lu.se/record/4362392
- author
- Papadopoulos, Alessandro Vittorio LU ; Bascetta, Luca and Ferretti, Gianni
- organization
- publishing date
- 2014
- type
- Contribution to journal
- publication status
- published
- subject
- in
- IFAC Proceedings Volumes
- volume
- 47
- issue
- 3
- pages
- 6 pages
- publisher
- Elsevier
- conference name
- 19th IFAC World Congress, 2014
- conference location
- Cape Town, South Africa
- conference dates
- 2014-08-24 - 2014-08-29
- external identifiers
-
- scopus:84929815403
- DOI
- 10.3182/20140824-6-ZA-1003.01898
- language
- English
- LU publication?
- yes
- additional info
- Accepted. The conference will be in August 2014.
- id
- ec4fe307-5eea-46e4-a594-f74efddb15c5 (old id 4362392)
- date added to LUP
- 2016-04-04 14:19:44
- date last changed
- 2022-01-31 17:32:33
@article{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}},
number = {{3}},
pages = {{12299--12304}},
publisher = {{Elsevier}},
series = {{IFAC Proceedings Volumes}},
title = {{A Comparative Evaluation of Human Motion Planning Policies}},
url = {{http://dx.doi.org/10.3182/20140824-6-ZA-1003.01898}},
doi = {{10.3182/20140824-6-ZA-1003.01898}},
volume = {{47}},
year = {{2014}},
}