Gonzalo Ferrer

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Robots accompanying humans is one of the core capacities every service robot deployed in urban settings should have. We present a novel robot companion approach based on the so-called Social Force Model (SFM). A new model of robot-person interaction is obtained using the SFM which is suited for our robots Tibi and Dabo. Additionally, we propose an(More)
PURPOSE The goal of this study was to determine the best angle at which to drill the femoral tunnels of the popliteus tendon (PT) and fibular collateral ligament (FCL) in combined reconstructive procedures so as to avoid either short tunnels or tunnel collisions with the anterior cruciate ligament (ACL) and posterior cruciate ligament (PCL) femoral tunnels.(More)
E. Trulls, A. Corominas Murtra, J. Pérez-Ibarz, and G. Ferrer Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Barcelona, Spain e-mail: etrulls@iri.upc.edu, acoromin@iri.upc.edu, jnperez@iri.upc.edu, gferrer@iri.upc.edu D. Vasquez Swiss Federal Institute of Technology, Zürich, Switzerland e-mail: vasquez@mavt.ethz.ch Josep M. Mirats-Tur Cetaqua,(More)
Human motion prediction in indoor and outdoor scenarios is a key issue towards human robot interaction and intelligent robot navigation in general. In the present work, we propose a new human motion intentionality indicator, denominated Bayesian Human Motion Intentionality Prediction (BHMIP), which is a geometric-based long-term predictor. Two variants of(More)
The prediction of human motion intentionality is a key issue towards intelligent human robot interaction and robot navigation. In this work we present a comparative study of several prediction functions that are based on the minimum curvature variance from the current position to all the potential destination points, that means, the points that are relevant(More)
In this paper we present a novel robot navigation approach based on the so-called Social Force Model (SFM). First, we construct a graph map with a set of destinations that completely describe the navigation environment. Second, we propose a robot navigation algorithm, called social-aware navigation, which is mainly driven by the social-forces centered at(More)
This paper presents a novel approach for robot navigation in crowded urban environments where people and objects are moving simultaneously while a robot is navigating. Avoiding moving obstacles at their corresponding precise moment motivates the use of a robotic planner satisfying both dynamic and nonholonomic constraints, also referred as kynodynamic(More)
In our previous work [1] we introduced the Anticipative Kinodynamic Planning (AKP): a robot navigation algorithm in dynamic urban environments that seeks to minimize its disruption to nearby pedestrians. In the present paper, we maintain all the advantages of the AKP, and we overcome the previous limitations by presenting novel contributions to our(More)
In the present work, we propose and validate a complete probabilistic framework for human motion prediction in urban or social environments. Additionally, we formulate a powerful and useful tool: the human motion behavior estimator. Three different basic behaviors have been detected: Aware, Balanced and Unaware. Our approach is based on the Social Force(More)