Article

Planning-based prediction for pedestrians

Authors:

Brian D. Ziebart,

Nathan Ratliff,

Garratt Gallagher,

Christoph Mertz,

Kevin Peterson,

J. Andrew Bagnell,

Martial Hebert,

Anind K. Dey, and

Siddhartha SrinivasaAuthors Info & Claims

IROS'09: Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems

October 2009

Pages 3931 - 3936

Published: 10 October 2009 Publication History

Abstract

We present a novel approach for determining robot movements that efficiently accomplish the robot's tasks while not hindering the movements of people within the environment. Our approach models the goal-directed trajectories of pedestrians using maximum entropy inverse optimal control. The advantage of this modeling approach is the generality of its learned cost function to changes in the environment and to entirely different environments. We employ the predictions of this model of pedestrian trajectories in a novel incremental planner and quantitatively show the improvement in hindrance-sensitive robot trajectory planning provided by our approach.

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Cited By

Mavrogiannis CAlves-Oliveira PThomason WKnepper R(2022)Social Momentum: Design and Evaluation of a Framework for Socially Competent Robot NavigationACM Transactions on Human-Robot Interaction10.1145/349524411:2(1-37)Online publication date: 8-Feb-2022
https://dl.acm.org/doi/10.1145/3495244
Hu DLi SCai JHu Y(2020)Toward intelligent workplaceProceedings of the Winter Simulation Conference10.5555/3466184.3466459(2412-2423)Online publication date: 14-Dec-2020
https://dl.acm.org/doi/10.5555/3466184.3466459
Fridovich-Keil DBajcsy AFisac JHerbert SWang SDragan ATomlin C(2020)Confidence-aware motion prediction for real-time collision avoidance1International Journal of Robotics Research10.1177/027836491985943639:2-3(250-265)Online publication date: 17-Jun-2020
https://dl.acm.org/doi/10.1177/0278364919859436
Show More Cited By

Index Terms

Planning-based prediction for pedestrians
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
      1. Robotic planning
    2. Planning and scheduling
      1. Robotic planning

Index terms have been assigned to the content through auto-classification.

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Information

Published In

cover image Guide Proceedings

IROS'09: Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems

October 2009

5973 pages

ISBN:9781424438037

Sponsors

SICE: Society of Instrument and Control Engineers
RA: IEEE Robotics and Automation Society
ICROS: Institute of Control, Robotics and Systems in Korea

Publisher

IEEE Press

Publication History

Published: 10 October 2009

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Cited By

Mavrogiannis CAlves-Oliveira PThomason WKnepper R(2022)Social Momentum: Design and Evaluation of a Framework for Socially Competent Robot NavigationACM Transactions on Human-Robot Interaction10.1145/349524411:2(1-37)Online publication date: 8-Feb-2022
https://dl.acm.org/doi/10.1145/3495244
Hu DLi SCai JHu Y(2020)Toward intelligent workplaceProceedings of the Winter Simulation Conference10.5555/3466184.3466459(2412-2423)Online publication date: 14-Dec-2020
https://dl.acm.org/doi/10.5555/3466184.3466459
Fridovich-Keil DBajcsy AFisac JHerbert SWang SDragan ATomlin C(2020)Confidence-aware motion prediction for real-time collision avoidance1International Journal of Robotics Research10.1177/027836491985943639:2-3(250-265)Online publication date: 17-Jun-2020
https://dl.acm.org/doi/10.1177/0278364919859436
Mavrogiannis CKnepper R(2020)Multi-agent path topology in support of socially competent navigation planningInternational Journal of Robotics Research10.1177/027836491878101638:2-3(338-356)Online publication date: 17-Jun-2020
https://dl.acm.org/doi/10.1177/0278364918781016
Tsunoda KHata TObana K(2020)Predicting People Flow for Supporting Facility ManagementProceedings of the 2020 4th International Conference on Software and e-Business10.1145/3446569.3446579(57-63)Online publication date: 18-Dec-2020
https://dl.acm.org/doi/10.1145/3446569.3446579
Bobu AScobee DFisac JSastry SDragan ABelpaeme TYoung JGunes HRiek L(2020)LESS is MoreProceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3319502.3374811(429-437)Online publication date: 9-Mar-2020
https://dl.acm.org/doi/10.1145/3319502.3374811
Hemminki SKuribayashi KKonomi SNurmi PTarkoma S(2019)Crowd ReplicationACM Transactions on Spatial Algorithms and Systems10.1145/33176665:3(1-34)Online publication date: 12-Aug-2019
https://dl.acm.org/doi/10.1145/3317666
Ferrer GSanfeliu A(2019)Anticipative kinodynamic planningAutonomous Robots10.1007/s10514-018-9806-643:6(1473-1488)Online publication date: 1-Aug-2019
https://dl.acm.org/doi/10.1007/s10514-018-9806-6
Reddy SDragan ALevine S(2018)Where do you think you're going?Proceedings of the 32nd International Conference on Neural Information Processing Systems10.5555/3326943.3327077(1461-1472)Online publication date: 3-Dec-2018
https://dl.acm.org/doi/10.5555/3326943.3327077
Aroor AEpstein SKorpan RAndre EKoenig SDastani MSukthankar G(2018)Online Learning for Crowd-sensitive Path PlanningProceedings of the 17th International Conference on Autonomous Agents and MultiAgent Systems10.5555/3237383.3237952(1702-1710)Online publication date: 9-Jul-2018
https://dl.acm.org/doi/10.5555/3237383.3237952
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