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Learning-based simulation and modeling of unorganized chaining behavior using data generated from 3D human motion tracking

Published online by Cambridge University Press:  16 June 2021

Abhinav Malviya Open the ORCID record for Abhinav Malviya [Opens in a new window]  and
Rahul Kala Open the ORCID record for Rahul Kala [Opens in a new window]
Abhinav Malviya*
Affiliation:
Centre of Intelligent Robotics, Indian Institute of Information Technology, Allahabad, Prayagraj, India
Rahul Kala
Affiliation:
Centre of Intelligent Robotics, Indian Institute of Information Technology, Allahabad, Prayagraj, India
*
*Corresponding author. Email: abhinavmcs0001@gmail.com
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Abstract

The paper models the unorganized chaining behavior, where humans need to walk in a chain due to a constrained environment. Detection and tracking are done using a 3D LiDAR, which has the challenges of environmental noises, uncontrolled environment, and occlusions. The Kalman filter is used for tracking. The trajectories are analyzed and used to train a behavioral model. The modeling has applications in socialistic robot motion planning and simulations. Based on the results, we conclude that the trajectory prediction by our approach is more socialistic and has a lesser error when compared to the artificial potential field method.

Keywords

Social roboticsBehavior analysisBehavior modelingHuman detectionTrackingSimulation

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Type
Article
Information
Robotica , Volume 40 , Issue 3 , March 2022 , pp. 544 - 569
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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