Adapting the robot team behaviors from interaction with a group of people

In this paper we address the robot-human interactions in a multi-robot and people group framework. The objective is to develop and evaluate techniques for missions in which several robots cooperate among them and interact with a group of people in order to adapt their behaviors to the ones of the people. The focus is oriented to detect people behaviors in order to act consequently for coordinately adapting the robots behaviors. Probabilistic techniques to robust and cooperatively detect from the range finder information both the group and the individual behaviors are developed. According to this information, the team of robots reacts to comply with the new situation. Cooperative motion planning complying with the environments and environment perception techniques are developed and jointly used with the scene information to reach the proposed objective. A people guiding mission scenario is used for the simulated and experimental evaluation of the techniques.

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