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Cooperative robot team navigation strategies based on an environment model
- in IEEE/RSJ International Conference on Intelligent Robots and Systems
, 2009
"... Abstract-This paper addresses a flexible cooperative navigation system for small robot teams. The members of these groups move in formation, but with enough flexibility to be able to avoid obstacles and adapt to the environment shape. This approach is based on an analysis of the environment on a gr ..."
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Cited by 7 (1 self)
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Abstract-This paper addresses a flexible cooperative navigation system for small robot teams. The members of these groups move in formation, but with enough flexibility to be able to avoid obstacles and adapt to the environment shape. This approach is based on an analysis of the environment on a gridbased model that permits each robot to continuously evaluate the situation in which it is, in order to decide the best of the three developed navigation strategies, one for each situation type. Moreover, by using this model the robot cooperation for a coordinate navigation is improved, allowing each robot to share the observations with the other robots. So the field of view of each robot of the team on which it makes the decisions is enlarged. The system is implemented in a decentralized way so the number of robots is not a main issue, thus being scalable. Eventually, initial formation topology can be modified, in order to comply with the environment while the mission is accomplished. The system and the strategies are evaluated by means of simulations, showing the robustness against possible blocking situations.
An autonomous tour guide robot in a next generation smart museum”, Accepted for publication
- in the 5th International Symposium on Ubiquitous Computing and Ambient Intelligence (UCAmI
, 2011
"... Abstract — Access to cultural heritage is one of the contexts where Ambient Intelligence can play a significant role, making visitors ’ experience more appealing. This paper presents an overview of an autonomous robot guide in e-Museum, a smart museum that aims to be intelligent, adapting to the cha ..."
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Abstract — Access to cultural heritage is one of the contexts where Ambient Intelligence can play a significant role, making visitors ’ experience more appealing. This paper presents an overview of an autonomous robot guide in e-Museum, a smart museum that aims to be intelligent, adapting to the characteristics of each visitor and allowing a natural interaction with the works of art and our social robot. We also present an accurate EKF-localization, reliable navigation techniques with environment builder, path planning and reactive obstacle avoidance that order the motion command, and a people tracking-interaction module to achieve this gregarious tour guide. The last module is the key issue as allows the robot to know where visitors are in every moment and behave in a social manner since it adjusts to its visitors preferences. Our robot guide with its two operating modes provides a friendly human-like interplay. Keywords- Social mobile robots, localization, SLAM, smart museum, dynamic environment, motion planning, people tracking, human interaction, ubiquitous sensors. I.
Article Active Sensing and Its Application to Sensor Node Reconfiguration
, 2014
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