Using Human-Inspired Signals to Disambiguate Navigational Intentions

Justin Hart; Reuth Mirsky; Xuesu Xiao; Stone Tejeda; Bonny Mahajan; Jamin Goo; Kathryn Baldauf; Sydney Owen; Peter Stone

doi:10.1007/978-3-030-62056-1_27

Using Human-Inspired Signals to Disambiguate Navigational Intentions

Justin Hart, Reuth Mirsky, Xuesu Xiao, Stone Tejeda, Bonny Mahajan, Jamin Goo, Kathryn Baldauf, Sydney Owen, Peter Stone

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

19 Scopus citations

Abstract

People are proficient at communicating their intentions in order to avoid conflicts when navigating in narrow, crowded environments. Mobile robots, on the other hand, often lack both the ability to interpret human intentions and the ability to clearly communicate their own intentions to people sharing their space. This work addresses the second of these points, leveraging insights about how people implicitly communicate with each other through gaze to enable mobile robots to more clearly signal their navigational intention. We present a human study measuring the importance of gaze in coordinating people’s navigation. This study is followed by the development of a virtual agent head which is added to a mobile robot platform. Comparing the performance of a robot with a virtual agent head against one with an LED turn signal demonstrates its ability to impact people’s navigational choices, and that people more easily interpret the gaze cue than the LED turn signal.

Original language	English
Title of host publication	Social Robotics - 12th International Conference, ICSR 2020, Proceedings
Editors	Alan R. Wagner, David Feil-Seifer, Kerstin S. Haring, Silvia Rossi, Thomas Williams, Hongsheng He, Shuzhi Sam Ge
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	320-331
Number of pages	12
ISBN (Print)	9783030620554
DOIs	https://doi.org/10.1007/978-3-030-62056-1_27
State	Published - 1 Jan 2020
Externally published	Yes
Event	12th International Conference on Social Robotics, ICSR 2020 - Golden, United States Duration: 14 Nov 2020 → 18 Nov 2020

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	12483 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	12th International Conference on Social Robotics, ICSR 2020
Country/Territory	United States
City	Golden
Period	14/11/20 → 18/11/20

Keywords

Gaze
Human-robot interaction
Social navigation

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/978-3-030-62056-1_27

Cite this

Hart, J., Mirsky, R., Xiao, X., Tejeda, S., Mahajan, B., Goo, J., Baldauf, K., Owen, S., & Stone, P. (2020). Using Human-Inspired Signals to Disambiguate Navigational Intentions. In A. R. Wagner, D. Feil-Seifer, K. S. Haring, S. Rossi, T. Williams, H. He, & S. Sam Ge (Eds.), Social Robotics - 12th International Conference, ICSR 2020, Proceedings (pp. 320-331). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 12483 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-62056-1_27

Hart, Justin ; Mirsky, Reuth ; Xiao, Xuesu et al. / Using Human-Inspired Signals to Disambiguate Navigational Intentions. Social Robotics - 12th International Conference, ICSR 2020, Proceedings. editor / Alan R. Wagner ; David Feil-Seifer ; Kerstin S. Haring ; Silvia Rossi ; Thomas Williams ; Hongsheng He ; Shuzhi Sam Ge. Springer Science and Business Media Deutschland GmbH, 2020. pp. 320-331 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "People are proficient at communicating their intentions in order to avoid conflicts when navigating in narrow, crowded environments. Mobile robots, on the other hand, often lack both the ability to interpret human intentions and the ability to clearly communicate their own intentions to people sharing their space. This work addresses the second of these points, leveraging insights about how people implicitly communicate with each other through gaze to enable mobile robots to more clearly signal their navigational intention. We present a human study measuring the importance of gaze in coordinating people{\textquoteright}s navigation. This study is followed by the development of a virtual agent head which is added to a mobile robot platform. Comparing the performance of a robot with a virtual agent head against one with an LED turn signal demonstrates its ability to impact people{\textquoteright}s navigational choices, and that people more easily interpret the gaze cue than the LED turn signal.",

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author = "Justin Hart and Reuth Mirsky and Xuesu Xiao and Stone Tejeda and Bonny Mahajan and Jamin Goo and Kathryn Baldauf and Sydney Owen and Peter Stone",

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Hart, J, Mirsky, R, Xiao, X, Tejeda, S, Mahajan, B, Goo, J, Baldauf, K, Owen, S & Stone, P 2020, Using Human-Inspired Signals to Disambiguate Navigational Intentions. in AR Wagner, D Feil-Seifer, KS Haring, S Rossi, T Williams, H He & S Sam Ge (eds), Social Robotics - 12th International Conference, ICSR 2020, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 12483 LNAI, Springer Science and Business Media Deutschland GmbH, pp. 320-331, 12th International Conference on Social Robotics, ICSR 2020, Golden, United States, 14/11/20. https://doi.org/10.1007/978-3-030-62056-1_27

Using Human-Inspired Signals to Disambiguate Navigational Intentions. / Hart, Justin; Mirsky, Reuth; Xiao, Xuesu et al.
Social Robotics - 12th International Conference, ICSR 2020, Proceedings. ed. / Alan R. Wagner; David Feil-Seifer; Kerstin S. Haring; Silvia Rossi; Thomas Williams; Hongsheng He; Shuzhi Sam Ge. Springer Science and Business Media Deutschland GmbH, 2020. p. 320-331 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 12483 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Using Human-Inspired Signals to Disambiguate Navigational Intentions

AU - Hart, Justin

AU - Mirsky, Reuth

AU - Xiao, Xuesu

AU - Tejeda, Stone

AU - Mahajan, Bonny

AU - Goo, Jamin

AU - Baldauf, Kathryn

AU - Owen, Sydney

AU - Stone, Peter

PY - 2020/1/1

Y1 - 2020/1/1

N2 - People are proficient at communicating their intentions in order to avoid conflicts when navigating in narrow, crowded environments. Mobile robots, on the other hand, often lack both the ability to interpret human intentions and the ability to clearly communicate their own intentions to people sharing their space. This work addresses the second of these points, leveraging insights about how people implicitly communicate with each other through gaze to enable mobile robots to more clearly signal their navigational intention. We present a human study measuring the importance of gaze in coordinating people’s navigation. This study is followed by the development of a virtual agent head which is added to a mobile robot platform. Comparing the performance of a robot with a virtual agent head against one with an LED turn signal demonstrates its ability to impact people’s navigational choices, and that people more easily interpret the gaze cue than the LED turn signal.

AB - People are proficient at communicating their intentions in order to avoid conflicts when navigating in narrow, crowded environments. Mobile robots, on the other hand, often lack both the ability to interpret human intentions and the ability to clearly communicate their own intentions to people sharing their space. This work addresses the second of these points, leveraging insights about how people implicitly communicate with each other through gaze to enable mobile robots to more clearly signal their navigational intention. We present a human study measuring the importance of gaze in coordinating people’s navigation. This study is followed by the development of a virtual agent head which is added to a mobile robot platform. Comparing the performance of a robot with a virtual agent head against one with an LED turn signal demonstrates its ability to impact people’s navigational choices, and that people more easily interpret the gaze cue than the LED turn signal.

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T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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BT - Social Robotics - 12th International Conference, ICSR 2020, Proceedings

A2 - Wagner, Alan R.

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Hart J, Mirsky R, Xiao X, Tejeda S, Mahajan B, Goo J et al. Using Human-Inspired Signals to Disambiguate Navigational Intentions. In Wagner AR, Feil-Seifer D, Haring KS, Rossi S, Williams T, He H, Sam Ge S, editors, Social Robotics - 12th International Conference, ICSR 2020, Proceedings. Springer Science and Business Media Deutschland GmbH. 2020. p. 320-331. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-62056-1_27

Using Human-Inspired Signals to Disambiguate Navigational Intentions

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Keywords

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