Autonomous person following for telepresence robots

摘要: We present a method for mobile robot to follow person autonomously where there is an interaction between the and human during following. The planner takes into account predicted trajectory of searches future trajectories path with highest utility. Contrary traditional motion planning, instead determining goal points close person, we introduce task dependent function which provides map desirable areas be at, respect person. planning framework flexible allows encoding different social situations help function. implemented our approach on telepresence conducted controlled user study evaluate experiences users remote end robot. compares manual teleoperation autonomous following while having conversation. By designing behavior specific flat screen robot, show that perceived as safe socially acceptable by users. All 10 participants preferred over teleoperation.