The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observations along with future predictions and goal information to integrate anticipatory behavior for the control of a mobile manipulation robot. We present approaches to anticipate human behavior in the context of safe navigation and a collaborative mobile manipulation task. First, we anticipate human motion by employing projections of human trajectories from smart edge sensor network observations into the planning map of a mobile robot. Second, we anticipate human intentions in a collaborative furniture-carrying task to achieve a given goal. Our experiments indicate that anticipating human behavior allows for safer navigation and more efficient collaboration. Finally, we showcase an integrated system that anticipates human behavior and collaborates with a human to achieve a target room layout, including the placement of tables and chairs.

翻译：预测人类行为是机器人实现安全高效人机交互的关键能力。本研究采用智能边缘传感器网络提供全局观测数据，并结合未来预测与目标信息，将预测性行为集成至移动操作机器人的控制系统中。我们提出了在安全导航与协同移动操作任务背景下预测人类行为的方法。首先，通过将智能边缘传感器网络观测到的人类轨迹投影至移动机器人规划地图中，实现对人类运动的预测。其次，在协同搬运家具任务中预测人类意图以实现既定目标。实验结果表明，预测人类行为能够实现更安全的导航与更高效的协作。最后，我们展示了一个集成系统，该系统能够预测人类行为并与人类协作完成目标房间布局，包括桌椅的摆放。