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We propose in this paper an autonomous motion planning framework for companion robots to accompany humans in a socially desirable manner, which takes safety and comfort requirements into account. The overall framework consists of two parts: first, a novel parallel interacting multiple model-unscented Kalman filter (PIMM-UKF) approach is developed to simultaneously estimate human motion states and...
Motion planning of human-companion robots is a challenging problem and its solution has numerous applications. This paper proposes an autonomous motion planning framework for human-companion robots to accompany humans in a socially desirable manner, which takes into account the safety and comfort requirements. An Interacting Multiple Model-Unscented Kalman Filter (IMM-UKF) estimation and prediction...
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