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A Comparative Evaluation of Human Motion Planning Policies

Papadopoulos, Alessandro Vittorio LU ; Bascetta, Luca and Ferretti, Gianni (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)
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author
; and
organization
publishing date
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
2020-08-12 08:28:00
@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},
}