English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

The objective of this work is to expand upon previous works, consideringsocially acceptable behaviours within robot navigation and interaction, andallow a robot to closely approach static and dynamic individuals or groups. Thespace models developed in this dissertation are adaptive, that is, capable ofchanging over time to accommodate the changing circumstances often existentwithin a social environment. The space model's parameters' adaptation occurswith the end goal of enabling a close interaction between humans and robots andis thus capable of taking into account not only the arrangement of the groups,but also the basic characteristics of the robot itself. This work also furtherdevelops a preexisting approach pose estimation algorithm in order to betterguarantee the safety and comfort of the humans involved in the interaction, bytaking into account basic human sensibilities. The algorithms are integratedinto ROS's navigation system through the use of the $costmap2d$ and the$move\_base$ packages. The space model adaptation is tested via comparativeevaluation against previous algorithms through the use of datasets. The entirenavigation system is then evaluated through both simulations (static anddynamic) and real life situations (static). These experiments demonstrate thatthe developed space model and approach pose estimation algorithms are capableof enabling a robot to closely approach individual humans and groups, whilemaintaining considerations for their comfort and sensibilities.

Socially reactive navigation models for mobile robots in dynamic environments