METHOD AND APPARATUS FOR POSITIONING AN UNMANNED VEHICLE IN PROXIMITY TO A PERSON OR AN OBJECT BASED JOINTLY ON PLACEMENT POLICIES AND PROBABILITY OF SUCCESSFUL PLACEMENT

摘要

Warping vectors of an image and audio are used to determine visual and verbal interaction effectiveness. A probability of successful placement of an unmanned vehicle is determined based on placement policies and the visual and verbal interaction effectiveness. A direction of movement is then determined that maximizes the probability of successful placement. Instructions are issued to move the unmanned vehicle towards the direction that maximizes the probability of successful placement.

主权项

1. A method for placing an unmanned vehicle in relation to a person or object, the method comprising the steps of:
determining an interaction goal; determining placement policies based on the interaction goal; determining a location of the unmanned vehicle; determining if the placement policies are satisfied; determining a visual and/or an audio warping of the person or object, wherein the visual warping is determined by computing a grid, which connects eyes, nose, and lisps and comparing the grid to a symmetric grid, and wherein the audio warping is determined by computing time-of-arrival delays of acoustic waves of a person's voice arriving at a microphone array; determining a probability of successful placement, wherein the probability of successful placement is based on if the placement policies are satisfied, the visual warping of the person or object, and the audio warping of the person; determining a direction of movement that maximizes the probability of successful placement; and placing the unmanned vehicle in relation to the person or object based on maximizing the probability of successful placement.