Inducibility Analysis of Pedestrian's Interactive Behavior

As the application fields of Autonomous Mobile Robots (AMRs) expand, stress-free interaction with people around them becomes more important. AMRs are highly required to interact with pedestrians like human-human in- teraction. This paper proposes a new measure, ’Inducibility,’ expressing how AMR’s behavior can induce (control) the other pedestrian’s behavior. In particular, this paper discusses two kinds of inducibility measures: one is based on the sensitivity of decision-making, and the other one is based on the con- trollability gramian for the state space model of the interactive behavior. Finally, the validity of these two measures is evaluated based on data on interaction behaviors, and typical applications of these measures are discussed.