A Multi-Robot System Architecture for Trajectory Control of Groups of People
A Martinez-Garcia Edgar, Akihisa Ohya, Shinichi Yut · Pro Literatur Verlag, Germany eBooks · 2005
It has been considered that an important issue of this research work relies on the regarding of this modality for people conduction. A given contribution has been the methodology for conduction, its strategy for accomplishing the task-goal and the implementation of the system itself. It has been considered that most important issues featuring the present architecture are synthesized as: 1.) A framework for people trajectory control model. 2.) Guidance is mainly constrained by being of implicit communication type. 3.) Motions reactions are the means of interaction for trajectory control between robots and people. 4.) Non-active cooperation modality is given by the robots in this architecture. Furthermore, there are some important points of the guiding situation style, which were regarded as the basis for the MRS architecture. Likewise, some of the functionalities and part of the strategy for accomplishing conduction tasks that still deserve further considerations for investigation. For mentioning some of them; while conduction, people's assumptions are tied to the fact that they follow Ra, and/or just follow the crowd towards Ra's direction (specifying that direction for navigation is determined by Ra). The philosophy for attaining conduction is leader-based robots' formation, and several robots surround the group of people (it does not happened in other related work). Part of what affect psychologically the target-group people during the conduction task is that they walk feeling of being observed and the approach of back's robots. The team of robots affects the group's crowd dynamics depending on positions and speeds. Besides, summing up in the scope of this work a multi-robot system architecture purposed to guide a group of people, a vision-based multi-people tracking by team of robots, a trajectory control model and a robots motion planning system were discussed. In the present context the approach has been to depict results of successful multiple people localization. We discussed in detail a method by deploying a MRS within a centralized architecture, since it has resulted enough for a task-oriented approach. The content of this paper is a critical part as a preamble to accomplish real experiments for interaction with different social groups of people aimed to provide guiding-tours. A methodology for processing and sharing distributed sensor data and multi-sensor data fusion was detailed with experimental results by deploying a team of 3 mobile robots, as well as evaluating robustness and reliability of the methods.