Destination Unknown: Walking Side-by-Side without Knowing the Goal
Destination Unknown: Walking Side-by-Side without Knowing the Goal
复制标题
目的地未知：并肩行走，不知目标
DOI：
--
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
H. Ishiguro
中科院分区：
文献类型：
--
作者：
R. Murakami;Luis Yoichi Morales Saiki;S. Satake;T. Kanda;H. Ishiguro
当我们和另一个人一边谈话一边从一个地方走到另一个地方时，并排行走是一种常见的情况。我们之前的研究报告了并排行走的基本机制，但在之前的模型中，每个代理人都知道他或她要去哪里，即到达目的地的路线，这一点至关重要。然而，我们已经认识到需要对其中一个代理不知道目的地的情况进行建模。在这项工作中提出的扩展模型有两个状态：领导者-追随者状态和协作状态。根据跟随者代理是否获得了要跟随的路线的可靠估计，步行代理在两个状态之间转换。该模型是校准从并排行走的人对获得的轨迹，然后在人机交互场景中进行测试。结果表明，新的扩展模型实现了更好的并排性能比标准的方法，没有知识的子目标。
Walking side by side is a common situation when we go from one place to another with another person while talking. Our previous study reported a basic mechanism for side-by-side walking, but in the previous model it was crucial that each agent knew where he or she was going, i.e. the route to the destination. However, we have recognized the need to model the situation where one of the agents does not know the destination. The extended model presented in this work has two states: leader-follower state and collaborative state. Depending on whether the follower agent has obtained a reliable estimate of the route to follow, the walking agents transition between the two states. The model is calibrated with trajectories acquired from pairs of people walking side by side, and then it is tested in a human-robot interaction scenario. The results demonstrate that the new extended model achieves better side-by-side performance than a standard method without knowledge of the subgoal.