Robust Following with Hidden Information in Travel Partners

摘要: Pedestrians often travel with one another [9]. Travel partners share destinations or temporary subgoals. Such information is communicated on-the-fly, when observations are received and local direction decisions needed. At decision points, e.g. intersections, we observe that there a leader (or more) in group who actively decides where to go, the follower(s), without explicit communication, can adapt their motions quickly catch up [10]. In robotics, human-following achieved by performing online subgoal inference, for robot motion while maintaining desired shapes [5], such as side-by-side walking. This capability has been realized applying maximum-likelihood estimates upon path planning problem [8, 10]. While assertively following towards most likely shown success relatively simple environments, strategy lead bad states under false poor visibility other route options blocking member options, yielding performance inference delay.