Simulation-based internal models for safer robots
Blum, Christian; Winfield, Alan F.; Hafner, Verena V.
Alan Winfield Alan.Winfield@uwe.ac.uk
Professor in Robotics
Verena V. Hafner
In this paper, we explore the potential of mobile robots with simulation-based internal models for safety in highly dynamic environments. We propose a robot with a simulation of itself, other dynamic actors and its environment, inside itself. Operating in real time, this simulation-based internal model is able to look ahead and predict the consequences of both the robot’s own actions and those of the other dynamic actors in its vicinity. Hence, the robot continuously modifies its own actions in order to actively maintain its own safety while also achieving its goal. Inspired by the problem of how mobile robots could move quickly and safely through crowds of moving humans, we present experimental results which compare the performance of our internal simulation-based controller with a purely reactive approach as a proof-of-concept study for the practical use of simulation-based internal models.
Blum, C., Winfield, A. F., & Hafner, V. V. (2018). Simulation-based internal models for safer robots. Frontiers in Robotics and AI, 4(74), 1-17. https://doi.org/10.3389/frobt.2017.00074
|Journal Article Type||Article|
|Acceptance Date||Dec 15, 2017|
|Publication Date||Jan 11, 2018|
|Deposit Date||Dec 15, 2017|
|Journal||Frontiers in Robotics and AI|
|Peer Reviewed||Peer Reviewed|
|Keywords||robot safety, multi-robot systems, swarm robotics, internal modelling, internal simulations|
|Additional Information||Additional Information : This Document is Protected by copyright and was first published by Frontiers. All rights reserved. it is reproduced with permission.|
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