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Factoring the Mapping Problem: Mobile Robot Map-Building in the Hybrid Spatial Semantic Hierarchy
, 2008
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Towards a Safe, Low-Cost, Intelligent Wheelchair
"... Abstract — Unlike most other robots, autonomous personal transports must be designed with a passenger user in mind. This paper examines the integration of three necessary technologies for a robotic transport—in particular, a robotic wheelchair. First, local motion to a nearby goal pose needs to be s ..."
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Cited by 4 (2 self)
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Abstract — Unlike most other robots, autonomous personal transports must be designed with a passenger user in mind. This paper examines the integration of three necessary technologies for a robotic transport—in particular, a robotic wheelchair. First, local motion to a nearby goal pose needs to be safe and comfortable for the human passenger. Second, 3D overhangs, drop-offs, steep inclines, and stairs (in addition to pedestrians and walls) need to be accurately modeled and avoided, while curb cuts, drivable ramps, and flat ground should be seen as traversable. Third, the spatial representation of the robot should facilitate infrequent requests for human directions and allow “natural ” directional commands. Furthermore, the sensorimotor system that facilitates spatial reasoning, planning, and motion needs to be cost efficient. As a result, our goal is to create a system that ultimately uses inexpensive wheel encoders and off-the-shelf stereo cameras. In this paper, we overview the three technologies listed above. We then discuss the successes and the current failures of the integration task, both of which motivate future work. I.
Bridging the Gap Between Semantic Planning and Continuous Control for Mobile Manipulation Using a Graph-Based World Representation
"... We present our ongoing efforts to create a mobile manipulation database tool, a flexible multi-modal representation supporting persistent life-long adaptation for autonomous service robots in every-day environments. Its application to a prototypical domain illustrates how it provides symbol groundin ..."
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Cited by 1 (0 self)
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We present our ongoing efforts to create a mobile manipulation database tool, a flexible multi-modal representation supporting persistent life-long adaptation for autonomous service robots in every-day environments. Its application to a prototypical domain illustrates how it provides symbol grounding to a reasoning system capable of learning new concepts, couples semantic planning with whole-body prioritized control, and supports exploration of uncertain and dynamic environments. 1
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"... An intelligent agent operating in the real world needs to be fully aware ofthesurrounding environment tomake thebest decision possible atany given point of time. There are many forms of input devices for a robot that gather real-time information of the surroundings, such as video cameras, laser/sona ..."
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An intelligent agent operating in the real world needs to be fully aware ofthesurrounding environment tomake thebest decision possible atany given point of time. There are many forms of input devices for a robot that gather real-time information of the surroundings, such as video cameras, laser/sonar range finders, and GPS to name a few. In this thesis, a vision system for a mobile robot navigating through different illumination conditions is investigated. Many state-of-the-art object recognition algorithms employ methods running ongrayscale images, because using color isdifficult forseveral reasons: (a) The object-of-interest’s true colors may not be recorded by the camera hardware due to illumination artifacts, and (b) colors are often too ambiguous to be a robust visual descriptor of an object. In this dissertation, we address these two challenges and present new color-based vision algorithms for mobile robots that are robust and efficient. The first part of this dissertation focuses on the problem of color constancy for mobile robots under different lighting conditions. Specifically, We
Iros 2009 3rd Workshop: Planning, Perception and Navigation for Intelligent Vehicles Towards a Safe, Low-Cost, Intelligent Wheelchair
"... Abstract — Unlike most other robots, autonomous personal transports must be designed with a passenger user in mind. This paper examines the integration of three necessary technologies for a robotic transport—in particular, a robotic wheelchair. First, local motion to a nearby goal pose needs to be s ..."
Abstract
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Abstract — Unlike most other robots, autonomous personal transports must be designed with a passenger user in mind. This paper examines the integration of three necessary technologies for a robotic transport—in particular, a robotic wheelchair. First, local motion to a nearby goal pose needs to be safe and comfortable for the human passenger. Second, 3D overhangs, drop-offs, steep inclines, and stairs (in addition to pedestrians and walls) need to be accurately modeled and avoided, while curb cuts, drivable ramps, and flat ground should be seen as traversable. Third, the spatial representation of the robot should facilitate infrequent requests for human directions and allow “natural ” directional commands. Furthermore, the sensorimotor system that facilitates spatial reasoning, planning, and motion needs to be cost efficient. As a result, our goal is to create a system that ultimately uses inexpensive wheel encoders and off-the-shelf stereo cameras. In this paper, we overview the three technologies listed above. We then discuss the successes and the current failures of the integration task, both of which motivate future work. I.
