Showing papers on "Mobile robot navigation published in 2003"
19 Dec 2003
TL;DR: It is hypothesize that an appropriate match between a robot's social cues and its task improve the people's acceptance of and cooperation with the robot.
Abstract: A robot's appearance and behavior provide cues to the robot's abilities and propensities. We hypothesize that an appropriate match between a robot's social cues and its task improve the people's acceptance of and cooperation with the robot. In an experiment, people systematically preferred robots for jobs when the robot's humanlikeness matched the sociability required in those jobs. In two other experiments, people complied more with a robot whose demeanor matched the seriousness of the task.
692 citations
27 Oct 2003
TL;DR: The authors' open-source robot control software, the Carnegie Mellon Navigation (CARMEN) Toolkit, is described, which chooses not to adopt strict software standards, but to instead focus on good design practices.
Abstract: In this paper we describe our open-source robot control software, the Carnegie Mellon Navigation (CARMEN) Toolkit. The ultimate goals of CARMEN are to lower the barrier to implementing new algorithms on real and simulated robots and to facilitate sharing of research and algorithms between different institutions. In order for CARMEN to be as inclusive of various research approaches as possible, we have chosen not to adopt strict software standards, but to instead focus on good design practices. This paper outlines the lessons we have learned in developing these practices.
401 citations
03 Dec 2003
TL;DR: A robust sound source localization method in three-dimensional space using an array of 8 microphones based on time delay of arrival estimation and results show that a mobile robot can localize in real time different types of sound sources over a range of 3 meters and with a precision of 3/spl deg/.
Abstract: The hearing sense on a mobile robot is important because it is omnidirectional and it does not require direct line-of-sight with the sound source. Such capabilities can nicely complement vision to help localize a person or an interesting event in the environment. To do so the robot auditory system must be able to work in noisy, unknown and diverse environmental conditions. In this paper, we present a robust sound source localization method in three-dimensional space using an array of 8 microphones. The method is based on time delay of arrival estimation. Results show that a mobile robot can localize in real time different types of sound sources over a range of 3 meters and with a precision of 3/spl deg/.
370 citations
10 Nov 2003
TL;DR: A new approach is presented that interleaves mapping and localization with a probabilistic technique to identify spurious measurements and generates accurate 2D and 3D in different kinds of dynamic indoor and outdoor environments.
Abstract: The problem of generating maps with mobile robots has received considerable attention over the past years. Most of the techniques developed so far have been designed for situations in which the environment is static during the mapping process. Dynamic objects, however, can lead to serious errors in the resulting maps such as spurious objects or misalignments due to localization errors. In this paper we consider the problem of creating maps with mobile robots in dynamic environments. We present a new approach that interleaves mapping and localization with a probabilistic technique to identify spurious measurements. In several experiments we demonstrate that our algorithm generates accurate 2D and 3D in different kinds of dynamic indoor and outdoor environments. We also use our algorithm to isolate the dynamic objects and generate 3D representation of them.
300 citations
01 Dec 2003
TL;DR: Results show that landmarks were by far the most predominant navigation cue, that distance information and street names were infrequently used, and that information is used to enable navigation decisions, but also to enhance the pedestrian’s confidence and trust.
Abstract: Recent years have seen an increased interest in navigational services for pedestrians. To ensure that these services are successful, it is necessary to understand the information requirements of pedestrians when navigating, and in particular, what information they need and how it is used. A requirements study was undertaken to identify these information requirements within an urban navigation context. Results show that landmarks were by far the most predominant navigation cue, that distance information and street names were infrequently used, and that information is used to enable navigation decisions, but also to enhance the pedestrian’s confidence and trust. The implications for the design of pedestrian navigation aids are highlighted.
299 citations
TL;DR: The allothetic and idiothetic sensors that may be used by these robots to build internal representations of their environment, and the maps in which these representations may be instantiated, are first described.
276 citations
TL;DR: The allothetic and idiothetic sensors that may be used by these robots to build internal representations of their environment, and the maps in which these representations may be instantiated, are first described.
241 citations
10 Nov 2003
TL;DR: An algorithm to find the line-based map that best fits sets of two-dimensional range scan data via maximum likelihood formalism, which weights each point's influence on the fit according to its uncertainty, which is derived from sensor noise models.
Abstract: This paper presents an algorithm to find the line-based map that best fits sets of two-dimensional range scan data. To construct the map, we first provide an accurate means to fit a line segment to a set of uncertain points via maximum likelihood formalism. This scheme weights each point's influence on the fit according to its uncertainty, which is derived from sensor noise models. We also provide closed-form formulas for the covariance of the line fit, along with methods to transform line coordinates and covariances across robot poses. A Chi-squared based criterion for "knitting" together sufficiently similar lines can be used to merge lines directly (as we demonstrate) or as part of the framework for a line-based SLAM implementation. Experiments using a Sick LMS-200 laser scanner and a Nomad 200 mobile robot illustrate the effectiveness of the algorithm.
236 citations
27 Oct 2003
TL;DR: In this paper, the authors introduce a search and rescue robotic system composed of an elephant trunk-like robot mounted on a mobile base, which is capable not only of inspecting areas reachable by the mobile base but also of inspecting unreachable areas such as small cracks, and pipes, using the camera mounted on its elephant trunk robot.
Abstract: In this work we introduce a new concept of a search and rescue robotic system that is composed of an elephant trunk-like robot mounted on a mobile base. This system is capable not only of inspecting areas reachable by the mobile base but also to inspect unreachable areas such as small cracks, and pipes, using the camera mounted on its elephant trunk robot. In the report we describe the mechanical structure of the elephant trunk robot, the kinematic analysis of the structure, the robot control, and its human interface systems.
192 citations
TL;DR: The metric and topological paradigms are integrated in a hybrid system for both localization and map building, allowing a compact environment model, which does not require global metric consistency and permits both precision and robustness.
192 citations
TL;DR: A neuro-fuzzy controller for sensor-based mobile robot navigation in indoor environments and the control system consists of a hierarchy of robot behaviors.
Abstract: This paper discusses a neuro-fuzzy controller for sensor-based mobile robot navigation in indoor environments. The control system consists of a hierarchy of robot behaviors.
10 Nov 2003
TL;DR: The proposed algorithm is capable of generating collision-free paths for a mobile robot in both static and dynamic environments, and the generated robot path is optimal in the sense of the shortest distance.
Abstract: In this paper, a novel genetic algorithm based approach to path planning of a mobile robot is proposed. The major characteristic of the proposed algorithm is that the chromosome has a variable length. The location target and obstacles are included to find a path for a mobile robot in an environment that is a 2D workplace discretized into a grid net. Each cell in the net is a gene. The number of genes in one chromosome depends on the environment. The locations of the robot, the target and the obstacle are marked in the workplace. The proposed algorithm is capable of generating collision-free paths for a mobile robot in both static and dynamic environments. In a static environment, the generated robot path is optimal in the sense of the shortest distance. The effectiveness of the proposed model is demonstrated by simulation studies.
Book•
02 Oct 2003
TL;DR: From the Table of Contents: Abbreviations and acronyms Introduction Historical review Mathematical fundamentals Physical fundamentals Maps Terrestrial navigation Celestial navigation Terrestrial radio navigation Satellite-based navigation Augmentation systems Inertial navigation Integrated navigation Routing and guidance Vehicle and traffic management Application examples Critical outlook References Index
Abstract: From the Table of Contents: Abbreviations and acronyms Introduction Historical review Mathematical fundamentals Physical fundamentals Maps Terrestrial navigation Celestial navigation Terrestrial radio navigation Satellite-based navigation Augmentation systems Inertial navigation Image-based navigation Integrated navigation Routing and guidance Vehicle and traffic management Application examples Critical outlook References Index
03 Dec 2003
TL;DR: A method of composing simple control policies, applicable over a limited region in a dynamical system's free space, such that the resulting composition completely solves the navigation and control problem for the given system operating in a constrained environment is developed.
Abstract: This paper develops a method of composing simple control policies, applicable over a limited region in a dynamical system's free space, such that the resulting composition completely solves the navigation and control problem for the given system operating in a constrained environment. The resulting control policy deployment induces a global control policy that brings the system to the goal, provided that there is a single connected component of the free space containing both the start and goal configurations. In this paper, control policies for both kinematic and simple dynamical systems are developed. This work assumes that the initial velocities are somewhat aligned with the desired velocity vector field. We conclude by offering an outline of an approach for accommodating arbitrary dynamical constraints and initial conditions.
10 Nov 2003
TL;DR: In this article, the authors present a set of principles for efficient interaction with robots and robot teams, illustrated by an example and motivated by relevant factors from cognitive information processing (CIP).
Abstract: Advances in robot technology and artificial intelligence have increased the range of robot applications as well as the importance of supporting human interaction with robots and robot teams. Previous work by the authors has highlighted the importance of creating neglect tolerant autonomy and efficient interfaces. In this paper, lessons learned from evaluating neglect tolerance and interface efficiency are compiled into a set of principles for efficient interaction. Emphasis is placed on designing efficient interfaces, but many of the principles require autonomy levels that support the principles. Each principle is illustrated by an example and motivated by citing relevant factors from cognitive information processing.
10 Nov 2003
TL;DR: A humanoid robot HRP-2P with a biped locomotion controller, stereo vision software and aural human interface to realize cooperative works by a human and a humanoid robot is developed.
Abstract: We have developed a humanoid robot HRP-2P with a biped locomotion controller, stereo vision software and aural human interface to realize cooperative works by a human and a humanoid robot. The robot can find a target object by the vision, and carry it cooperatively with a human by biped locomotion according to the voice commands by the human. A cooperative control is applied to the arms of the robot while it carries the object, and the walking direction of the robot is controlled by the interactive force and torque through the force/torque sensor on the wrists. The experimental results are presented in the paper.
01 Jan 2003
TL;DR: This book discusses the design for Virtual Communities and Social Navigation in Electronic Environments, and the role of space in the design of these communities and social navigation.
Abstract: Editors' Introduction: Footprints in the Snow.- I Systems and Theories.- 1 Social Translucence: Using Minimalist Visualisations of Social Activity to Support Collective Interaction.- 2 Collaborative Filtering: Supporting Social Navigation in Large, Crowded Infospaces.- 3 Screen Scenery: Learning from Architecture and People's Practices of Navigation in Electronic Environments.- 4 Navigating the Virtual Landscape: Coordinating the Shared Use of Space.- 5 Experiential Design of Shared Information Spaces.- 6 GeoNotes: A Location-based Information System for Public Spaces.- 7 Footsteps from the Garden: Arcadian Knowledge Spaces.- 8 Social Navigation of Food Recipes: Designing Kalas.- 9 Results from the Footprints Project.- 10 WebPlaces: Using Intermediaries to Add People to the Web.- II Theories and Principles.- 11 Where the Footprints Lead: Tracking Down Other Roles for Social Navigation.- 12 Social Connotations of Space in the Design for Virtual Communities and Social Navigation.- 13 Informatics, Architecture and Language.- 14 Information that Counts: A Sociological View of Social Navigation.- 15 Navigation: Within and Beyond the Metaphor in Interface Design and Evaluation.- 16 The Conceptual Structure of Information Space.- 17 Information Space Navigation: A Framework.- References.
08 Dec 2003
TL;DR: A fast system for avoiding unknown obstacles on a mobile robot using a simple camera as the only sensor and the effectiveness of the vision and modeling algorithms is shown by creating a simple behavior which wanders around while avoiding obstacles.
Abstract: We contribute a fast system for avoiding unknown obstacles on a mobile robot using a simple camera as the only sensor. The vision module detects objects, both known and unknown, around the robot. Unknown objects are detected by paying attention to occlusions of a floor of known colors. Range and angle to the objects is calculated and used to create a radial model of the vicinity of the robot. This modeling component keeps tracks of objects that are currently outside the field of view of the camera allowing the robot to avoid obstacles it is not currently looking at. We show the effectiveness of the vision and modeling algorithms by creating a simple behavior which wanders around while avoiding obstacles.
08 Dec 2003
TL;DR: A general framework for distributed map building in the presence of uncertain communication is described and a technical solution to the key decision problem of determining relative location within partial maps is presented.
Abstract: A set of robots mapping an area can potentially combine their information to produce a distributed map more efficiently than a single robot alone. We describe a general framework for distributed map building in the presence of uncertain communication. Within this framework, we then present a technical solution to the key decision problem of determining relative location within partial maps.
TL;DR: A mobile robot control law for corridor navigation and wall-following, based on sonar and odometric sensorial information is proposed, which allows for stable navigation avoiding actuator saturation and theoretically proved to be asymptotically stable.
05 Nov 2003
TL;DR: An attention system for a mobile robot which enables the robot to shift its attention to the person of interest and to maintain attention during interaction is presented.
Abstract: In order to enable the widespread use of robots in home and office environments, systems with natural interaction capabilities have to be developed. A prerequisite for natural interaction is the robot's ability to automatically recognize when and how long a person's attention is directed towards it for communication. As in open environments several persons can be present simultaneously, the detection of the communication partner is of particular importance. In this paper we present an attention system for a mobile robot which enables the robot to shift its attention to the person of interest and to maintain attention during interaction. Our approach is based on a method for multi-modal person tracking which uses a pan-tilt camera for face recognition, two microphones for sound source localization, and a laser range finder for leg detection. Shifting of attention is realized by turning the camera into the direction of the person which is currently speaking. From the orientation of the head it is decided whether the speaker addresses the robot. The performance of the proposed approach is demonstrated with an evaluation. In addition, qualitative results from the performance of the robot at the exhibition part of the ICVS'03 are provided.
08 Dec 2003
TL;DR: The paper describes the processing steps data acquisition, obstacle segmentation, generation of leveled range scans and SLAM with these scans, and shows experimental results in man-made outdoor environments as they are typical for service robots used by civilians.
Abstract: Robot navigation in poorly structured and uneven outdoor environments is an unsolved problem. Thus we present a SLAM (simultaneous localization and mapping) approach that is based on "leveled range scans ". The combines 3D perception with 2D localization and mapping. In this way established path planning and 2D navigation algorithms can be used in uneven terrain without the computational costs of full three dimensional modeling. The paper describes the processing steps data acquisition, obstacle segmentation, generation of leveled range scans and SLAM with these scans. Additionally, the paper shows experimental results in man-made outdoor environments as they are typical for service robots used by civilians.
TL;DR: In this article, a limit-cycle navigation method for a fast mobile robot using the characteristics of a 2nd-order nonlinear function is proposed for the robot operating in a dynamically changing environment, such as in a robot soccer system.
10 Nov 2003
TL;DR: In this article, a new motion planning framework is presented that enables multiple mobile robots with limited ranges of sensing and communication to maneuver and achieve goals safely in dynamic environments, based on the concept of centralized planning within dynamic robot networks.
Abstract: A new motion planning framework is presented that enables multiple mobile robots with limited ranges of sensing and communication to maneuver and achieve goals safely in dynamic environments. To combine the respective advantages of centralized and de-centralized planning, this framework is based on the concept of centralized planning within dynamic robot networks. As the robots move in their environment, localized robot groups form networks, within which world models and robot goals can be shared. Whenever a network is formed, new information then becomes available to all robots in this network. With this new information, each robot uses a fast, centralized planner to compute new coordinated trajectories on the fly. Planning over several robot networks is decentralized and distributed. Both simulated and real-robot experiments have validated the approach.
TL;DR: This article describes this first-year effort by the GRACE team, including not only the various techniques each participant brought to GRACE but also the difficult integration effort itself.
Abstract: In an attempt to solve as much of the AAAI Robot Challenge as possible, five research institutions representing academia, industry, and government integrated their research into a single robot named GRACE. This article describes this first-year effort by the GRACE team, including not only the various techniques each participant brought to GRACE but also the difficult integration effort itself.
TL;DR: A low-cost robot capable of playing ping-pong against human opponent using a vision system to detect the ball, thus reducing the computational time and hardware requirements is presented.
Abstract: In this paper, a low-cost robot capable of playing ping-pong against human opponent using a vision system to detect the ball is presented. In the subsequent sections, the three main subsystems of the robot, i.e., the vision system, mechanical structure, and the control systems, are described. A prototype has been designed with lightweight and resistant materials to increase the response time and accurateness of the shot. One of the important features of this system is that it uses only one camera to detect the ball, thus reducing the computational time and hardware requirements. To detect the location of the ball, the robot combines the information about the ball and about the shadow it casts on the table. The expert module control defines the game strategy. Orienting the bat in order to return the ball to the desired position on the table does this. In these experiments, the success rate in returning balls was greater than 80%.
01 Jan 2003
TL;DR: In this article, the application of a sensor network to navigate a flying robot is introduced. But the robot itself is an integral part of the localization process which establishes the positions of sensors which are not known a priori.
Abstract: This paper introduces the application of a sensor network to navigate a flying robot. We have developed distributed algorithms and efficient geographic routing techniques to incrementally guide one or more robots to points of interest based on sensor gradient fields, or along paths defined in terms of Cartesian coordinates. The robot itself is an integral part of the localization process which establishes the positions of sensors which are not known a priori. We use this system in a large-scale outdoor experiment with Mote sensors to guide an autonomous helicopter along a path encoded in the network.
09 Dec 2003
TL;DR: This paper proposes a method which eliminates erroneous DGPS measurement data when odometry robot position is fused, and confirms the validity of this approach.
Abstract: The authors aim at map based outdoor navigation of a mobile robot. In navigation, robot position is fundamentally obtained by odometry. However, the position is misaligned as the robot moves because odometry has cumulative error. DGPS measurement data may cancel its position error. The framework of EKF is used for the modification and the fusion between odometry and DGPS measurement data. The DGPS measurement data, however, could have large error because of multipath near buildings. In this paper, the authors propose a method which eliminates erroneous DGPS measurement data when odometry robot position is fused, and confirm the validity of this approach.
01 Jul 2003
TL;DR: A current project that uses mobile autonomous communication relay nodes to overcome the problem of low-bandwidth digital radio link between a mobile robot and its remote control station degrades quickly as the robot penetrates the interior of a building or becomes shielded by intervening terrain.
Abstract: The high-bandwidth digital radio link between a mobile robot and its remote control station degrades quickly as the robot penetrates the interior of a building or becomes shielded by intervening terrain. This paper describes a current project that uses mobile autonomous communication relay nodes to overcome this problem. Each node is a small slave robot equipped with sonar, ladar, and 802.11b-based ad hoc networking radio. The relay robots follow the lead robot and automatically stop where needed to maintain a solid communication network between the lead robot and the remote operator. With their onboard external sensors, they also act as rearguards to secure areas already explored by the lead robot. As the lead robot advances and RF shortcuts are detected, relay nodes that become unnecessary will catch up to the lead robot and be reused, using maps generated by the lead robot. All relay deployment and redeployment functions occur without the operator's awareness.
08 Oct 2003
TL;DR: A directed potential field approach for motion co-ordination in formations of multi-robot-systems and results in simulation and with real robots in the presence of obstacles are presented.
Abstract: This paper presents a directed potential field approach for motion co-ordination in formations of multi-robot-systems. First a short introduction to the application of MRS formation navigation is given. The approach is briefly compared to related work. For the sub-task of moving in formation, a solution based on a potential field approach is presented. Different forces belonging to other robots, obstacles and the aspired shape of formation are combined and used to move each robot to its desired position inside the formation. While moving in formation, the group is able to avoid obstacles and approach towards a specified target. First results in simulation and with real robots in the presence of obstacles are presented.