Alle Publikationen
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2016
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(2016) : Incorporating perception uncertainty in human-aware navigation: A comparative study: 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN): New York City, USA: IEEE, S. 570-577
DOI: https://doi.org/10.1109/ROMAN.2016.7745175 Abstract: In this work, we present a novel approach to human-aware navigation by probabilistically modelling the uncertainty of perception for a social robotic system and investigating its effect on the overall social navigation performance. The model of the social costmap around a person has been extended to consider this new uncertainty factor, which has been widely neglected despite playing an important role in situations with noisy perception. A social path planner based on the fast marching method has been augmented to account for the uncertainty in the positions of people. The effectiveness of the proposed approach has been tested in extensive experiments carried out with real robots and in simulation. Real experiments have been conducted, given noisy perception, in the presence of single/multiple, static/dynamic humans. Results show how this approach has been able to achieve trajectories that are able to keep a more appropriate social distance to the people, compared to those of the basic navigation approach, and the human-aware navigation approach which relies solely on perfect perception, when the complexity of the environment increases. Accounting for uncertainty of perception is shown to result in smoother trajectories with lower jerk that are more natural from the point of view of humans.
Keywords: Angemessen(heit) (von Technik), Computational modeling, Detectors, dynamic humans, fast marching method, human-aware navigation, human-robot interaction, ieee xplore, Mobile robots, Navigation, noisy perception, path planning, perception uncertainty, Probabilistic logic, probabilistic modelling, Probability, Proposals, Robots, social costmap, social navigation performance, social path planner, social robotic system, static humans, trajectories, trajectory control, uncertain systems, uncertainty, uncertainty factor 2009
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(2009): Stress prompts habit behavior in humans. In: The Journal of neuroscience : the official journal of the Society for Neuroscience 29 (22), S. 7191-7198. DOI: 10.1523/JNEUROSCI.0979-09.2009
DOI: http://www.ncbi.nlm.nih.gov/pubmed/19494141 Abstract: Instrumental behavior can be controlled by goal-directed action-outcome and habitual stimulus-response processes that are supported by anatomically distinct brain systems. Based on previous findings showing that stress modulates the interaction of "cognitive" and "habit" memory systems, we asked in the presented study whether stress may coordinate goal-directed and habit processes in instrumental learning. For this purpose, participants were exposed to stress (socially evaluated cold pressor test) or a control condition before they were trained to perform two instrumental actions that were associated with two distinct food outcomes. After training, one of these food outcomes was selectively devalued as subjects were saturated with that food. Next, subjects were presented the two instrumental actions in extinction. Stress before training in the instrumental task rendered participants' behavior insensitive to the change in the value of the food outcomes, that is stress led to habit performance. Moreover, stress reduced subjects' explicit knowledge of the action-outcome contingencies. These results demonstrate for the first time that stress promotes habits at the expense of goal-directed performance in humans. zitiert von 319
Keywords: Analysis of Variance, Blood Pressure/physiology, Conditioning, Operant/physiology, Emotions, Extinction, Psychological/physiology, Female, Goals, Habits, Humans, Hydrocortisone/metabolism, Learning, Male, MEMORY, Neurowissenschaften, Operant Conditioning, performance, Probability, Psychomotor Performance/physiology, Saliva/metabolism, Satiation/physiology, Reinforcement (Psychology), Stress, Stress, Psychological/physiopathology, Young Adult
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