Interaction Spaces Between Human and Mobile Autonomous Systems

自主移动的系统（德语：sabeS）早已不再只存在于工业环境中，而是在日常生活中发挥着越来越重要的作用。不仅人类和sabeS之间的明确互动增加，而且随机相遇。本研究建议的主题是探索可规划的运动序列，这是一个sabeS应该显示解决空间冲突的情况下，与人类演员有效和令人满意的。这种冲突情况是一个常见的问题，例如，考虑到在公共场所使用自主交付机器人。根据化学研究的结果，这里提出的研究项目旨在确定人类周围的互动空间，其中sabeS应显示长期可预测或短期回避策略，以提高安全性，效率和满意度。第一个问题涉及这些短期和长期的描述，术语交互空间以及它们是否可以通过时间或空间依赖性更好地描述的问题。长期互动空间的特点是行为者之间的距离更远，因此时间预算更高。因此，sabeS应当根据人类的可能轨迹来调整预期轨迹。相比之下，短期互动空间的特点是较短的距离和相应的较短的时间预算。虽然目前正在实施sabeS的简单停止以防止碰撞，但最近的研究结果表明，效率和满意度可以通过更有意义的运动模式来提高。这种短期的运动模式是受进一步的发展和验证，在这个研究项目中。的几何形状和程度的假设长期和短期的相互作用空间的人类将被调查在接近sabeS的特性的依赖。大小、形状和速度都可能起作用，还有一个sabeS接近人类的角度。此外，还应包括人类特征。个人特征，如年龄，接近sabeS的心理模型，以及环境中可能的分心可能会影响互动空间的扩展和形状。计划中的研究项目设想包括模拟研究（虚拟现实）以及真实世界和现场实验。为此，一个移动的机器人是建立在一个模块化的平台，是适合现场实验。所获得的结果将允许得出结论的一种新的运动设计的sabeS。

Autonomous mobile systems (from German: sabeS) have long ceased to exist exclusively in an industrial context, and are playing an increasingly important role in everyday situations. Not only explicit interactions between humans and sabeS increase, but also random encounters. The subject of this research proposal is the exploration of plannable motion sequences, which a sabeS should show to solve spatial conflict situations with human actors efficiently and satisfactorily. Such conflict situations are a common problem, considering, for example, the use of autonomous delivery robots in public spaces. Based on findings from research in proxemics, the research project presented here aims to identify interaction spaces surrounding the human in which a sabeS should show either long-term predictable or short-term avoidance manoeuvres to enhance safety, efficiency and satisfaction.A first question relates to the description of these short-term and long-term interaction spaces and the question of whether they can be better described by a temporal or spatial dependence. The long-term interaction space is characterized by greater distances between the actors and thus a higher time budget. A sabeS should accordingly adapt the intended trajectory as a function of the probable trajectory of the human being. By contrast, the short-term interaction space is characterized by shorter distances and a correspondingly shorter time budget. While currently a simple stop of the sabeS is being implemented to prevent collisions, recent findings show that efficiency and satisfaction can be increased by more meaningful movement patterns. Such short-term movement patterns are subject to further development and verification in this research project.The geometric shape and extent of the postulated long and short-term interaction spaces of humans will be investigated in dependence on the characteristics of the approaching sabeS. Size, shape and speed can play a role, as well as the angle from which a sabeS approaches the human. Also, human characteristics shall be included. Personal characteristics such as age, mental model of the approaching sabeS, and possible distractions in the environment could affect the extension and shape of the interaction spaces.The planned research project envisages the inclusion of simulation studies (virtual reality) as well as real-world and field experiments. For this purpose, a mobile robot is to be built on a modular platform that is suitable for field experiments. The results obtained will allow to draw conclusions on a novel movement design for sabeS.