Research Publications Authored by SLIIT Staff

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This collection includes all SLIIT staff publications presented at external conferences and published in external journals. The materials are organized by faculty to facilitate easy retrieval.

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2016 - 20192

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Author: search.filters.author.Jayawardena, CSubject: search.filters.subject.Legged locomotion

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    Modeling Vision Utility for Side-by-Side Navigation of Robot-Human Pairs
    (IEEE, 2019-10-17) Jayawardena, C; Kehelella, P; De Silva, R
    Side-by-side robot navigation has significant direct benefits; especially when robotic wheelchairs are used. In addition to navigation issues faced by any mobile robot, side-by-side navigation has some other challenges as well. Maintaining side-by-side formation, avoiding collisions with minimal disturbance to the side-by-side formation, and maintaining the optimal social relationship are some of those challenges. This paper presents a novel decision making model for human-robot side by side navigation. The development of the model was based on observations of real-world human behaviour and data collections done through a user study. The developed model was calibrated and tested using a simulator as-well-as a laboratory experiment.
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    A decision making model for optimizing social relationship for side-by-side robotic wheelchairs in active mode
    (IEEE, 2016-06-26) Nguyen, V; Jayawardena, C
    Nowadays, not only the ability to navigate to destinations but also the ability to navigate in harmony in crowded environments is a crucial feature that helps mobile robots to be accepted in daily routines of humans. In the case of wheelchairs that can move in parallel to a caregiver (side-by-side), this requirement is more complex as the navigation should be comfortable to the wheelchair user, caregiver, as-well-as surrounding people. This study aims to propose a novel decision model for robotic wheelchairs for passing obstacles when moving side-by-side with a human. The proposed model was developed by studying human behavior.