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Simulation-based internal models for safer robots

Blum, Christian; Winfield, Alan F.; Hafner, Verena V.

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Authors

Christian Blum

Verena V. Hafner



Abstract

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.

Journal Article Type Article
Acceptance Date Dec 15, 2017
Publication Date Jan 11, 2018
Deposit Date Dec 15, 2017
Publicly Available Date Dec 15, 2017
Journal Frontiers in Robotics and AI
Electronic ISSN 2296-9144
Publisher Frontiers Media
Peer Reviewed Peer Reviewed
Volume 4
Issue 74
Pages 1-17
DOI https://doi.org/10.3389/frobt.2017.00074
Keywords robot safety, multi-robot systems, swarm robotics, internal modelling, internal simulations
Public URL https://uwe-repository.worktribe.com/output/877161
Publisher URL https://www.frontiersin.org/articles/10.3389/frobt.2017.00074/abstract
Additional Information Additional Information : This Document is Protected by copyright and was first published by Frontiers. All rights reserved. it is reproduced with permission.
Contract Date Dec 15, 2017

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