Leader-follower coordinated control based on socially acceptable dynamics

A complete characterization of the behavior in human-robot interaction (HRI) includes both: the behavior dynamic and the control laws that characterize as the behavior is regulated with the perception information. In this way, the present work proposes a leader-follower coordinated control that allows to include special dynamic behaviors between humans. Additionally these have been supported by social rules of proxemics and dynamic models of human-behavior that guarantee more comfortable interactions. For the detection and following of the human, it is used a Kinect? sensor on board of a Pioneer 3AT? robot (a differential drive robot), which allows the experimental validation of the proposed scheme of control.