Publications by Diego Felipe Paez Granados

Robots' Motion Planning in Human Crowds by Acceleration Obstacles

Aude Billard, David Julian Gonon, Diego Felipe Paez Granados

We study the Acceleration Obstacle (AO) as a concept to enable a robot's navigation in human crowds. The AO's geometric properties are analyzed and a direct sampling-free algorithm is proposed to approximate its boundary by linear constraints. The resultin ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados, Vaibhav Gupta

Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be unavoidable when the ...

IEEE2022

Crash test-based assessment of injury risks for adults and children when colliding with personal mobility devices and service robots

Aude Billard, Diego Felipe Paez Granados

Autonomous mobility devices such as transport, cleaning, and delivery robots, hold a massive economic and social benefit. However, their deployment should not endanger bystanders, particularly vulnerable populations such as children and older adults who ar ...

Nature Publishing Group2022

Safety Concerns Emerging from Robots Navigating in Crowded Pedestrian Areas

Aude Billard, Pericle Salvini, Diego Felipe Paez Granados

The slogan “robots will pervade our environment” has become a reality. Drones and ground robots are used for commercial purposes while semi-autonomous driving systems are standard accessories to traditional cars. However, while our eyes have been riveted o ...

2022

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Diego Felipe Paez Granados

Soon human-robot interactions in pedestrian areas will be beyond the novelty effect with the deployment of delivery robots, autonomous personal mobility vehicles, and surveillance robots. Proxemics and other social rules guide these interactions, nonethele ...

2021

On the Safety of Mobile Robots Serving in Public Spaces: Identifying gaps in EN ISO 13482:2014 and calling for a new standard

Aude Billard, Pericle Salvini, Diego Felipe Paez Granados

Since 2014, a specific standard was dedicated to the safety certification of personal care robots, which operates in close proximity to humans. These robots served as information providers, object transporters, personal mobility carriers, and security patr ...

2021

Crowd against the machine: A simulation-based benchmark tool to evaluate and compare robot capabilities to navigate a human crowd

Aude Billard, David Julian Gonon, Diego Felipe Paez Granados

The evaluation of robot capabilities to navigate human crowds is essential to conceive new robots intended to operate in public spaces. This paper initiates the development of a benchmark tool to evaluate such capabilities; our long term vision is to provi ...

IEEE2021

Reactive Navigation in Crowds for Non-holonomic Robots with Convex Bounding Shape

Aude Billard, David Julian Gonon, Diego Felipe Paez Granados

This paper describes a novel method for non-holonomic robots of convex shape to avoid imminent collisions with moving obstacles. The method's purpose is to assist navigation in crowds by correcting steering from the robot's path planner or driver. We evalu ...

2021

Control Interface for Hands-free Navigation of Standing Mobility Vehicles based on Upper-Body Natural Movements

Chen Yang, Diego Felipe Paez Granados

In this paper, we propose and evaluate a novel human-machine interface (HMI) for controlling a standing mobility vehicle or person carrier robot, aiming for a hands-free control through upper-body natural postures derived from gaze tracking while walking. ...

IEEE2020