Taxonomy and procedures for adaptive autonomous systems in crowded hybrid environments

Autonomous systems aimed to operate as humans´ aids or companions must be able to move alone or in conjunction with the humans in urban, crowded indoor and outdoor spaces. The focus in the paper is on taxonomy of humans displacement and on the use of the personal space notion in planning the robot movements. Scenarios for the environments the systems encounter are analyzed and relations among lower-level postural and kinematic parameters and higher-level movement features are presented.