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Mobile robot navigation

About: Mobile robot navigation is a research topic. Over the lifetime, 14713 publications have been published within this topic receiving 263092 citations.


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Journal ArticleDOI
TL;DR: A mobile robot is required to navigate around barriers in an unexplored environment and some heuristic strategies to aid such navigation are discussed, showing their usefulness in obstacle avoidance.
Abstract: A mobile robot is required to navigate around barriers in an unexplored environment. Some heuristic strategies to aid such navigation are discussed here. Being heuristic, these methods can be neither exhaustively tested nor proved effec tive in all cases. However, examples are given to demonstrate their usefulness in obstacle avoidance. In a simple case of sufficient generality, the heuristics are shown to be effective.

81 citations

Journal ArticleDOI
TL;DR: Results show that users tend to maintain a personal distance when interacting with an embodied robot and that embodiment engages users in maintaining longer interactions.
Abstract: This paper provides the results of various trial experiments in a hotel environment carried out using Sacarino, an interactive bellboy robot We analysed which aspects of the robot design and behaviour are relevant in terms of user engagement and comfort when interacting with our social robot The experiments carried out focused on the influence over the proxemics, duration and effectiveness of the interaction, taking into account three dichotomous factors related with the robot design and behaviour: robot embodiment (with/without robotic body), status of the robot (awake/asleep) and who starts communication (robot/user) Results show that users tend to maintain a personal distance when interacting with an embodied robot and that embodiment engages users in maintaining longer interactions On the other hand, including a greeting model in a robot is useful in terms of engaging users to maintain longer interactions, and that an active-looking robot is more attractive to the participants, producing longer interactions than in the case of a passive-looking robot A Bellboy, social robot interacting guests in a hotel is presentedSocial robot design should take care of target user age that influences use distanceA robotic body encourages remarkably HCI (with respect to common computers)A two-step salutation can attract user attention while avoiding intimidationMultimodal systems are highly recommended in real, noisy environment

80 citations

Proceedings ArticleDOI
10 Apr 2007
TL;DR: This paper demonstrates through extensive experiments that this chlorophyll-detection feature has properties complementary to the color and shape descriptors traditionally used for point cloud analysis, and shows significant improvement in classification performance for tasks relevant to outdoor navigation.
Abstract: A key challenge for autonomous navigation in cluttered outdoor environments is the reliable discrimination between obstacles that must be avoided at all costs, and lesser obstacles which the robot can drive over if necessary. Chlorophyll-rich vegetation in particular is often not an obstacle to a capable off-road vehicle, and it has long been recognized in the satellite imaging community that a simple comparison of the red and near-infrared (NIR) reflectance of a material provides a reliable technique for measuring chlorophyll content in natural scenes. This paper evaluates the effectiveness of using this chlorophyll-detection technique to improve autonomous navigation in natural, off-road environments. We demonstrate through extensive experiments that this feature has properties complementary to the color and shape descriptors traditionally used for point cloud analysis, and show significant improvement in classification performance for tasks relevant to outdoor navigation. Results are shown from field testing onboard a robot operating in off-road terrain.

80 citations

Journal ArticleDOI
01 Aug 2008
TL;DR: Reservoir Computing techniques use a fixed (usually randomly created) recurrent neural network, or more generally any dynamic system, which operates at the edge of stability, where only a linear static readout output layer is trained by standard linear regression methods.
Abstract: Reservoir Computing (RC) techniques use a fixed (usually randomly created) recurrent neural network, or more generally any dynamic system, which operates at the edge of stability, where only a linear static readout output layer is trained by standard linear regression methods. In this work, RC is used for detecting complex events in autonomous robot navigation. This can be extended to robot localization tasks which are solely based on a few low-range, high-noise sensory data. The robot thus builds an implicit map of the environment (after learning) that is used for efficient localization by simply processing the input stream of distance sensors. These techniques are demonstrated in both a simple simulation environment and in the physically realistic Webots simulation of the commercially available e-puck robot, using several complex and even dynamic environments.

80 citations

Journal ArticleDOI
10 Dec 2002
TL;DR: Locality Space Trails (LOST) as discussed by the authors is a method that enables a team of robots to navigate between places of interest in an initially unknown environment using a trail of landmarks.
Abstract: We describe localization-space trails (LOST), a method that enables a team of robots to navigate between places of interest in an initially unknown environment using a trail of landmarks. The landmarks are not physical; they are waypoint coordinates generated online by each robot and shared with teammates. Waypoints are specified in each robot's local coordinate system, and contain references to features in the world that are relevant to the team's task and common to all robots. Using these task-level references, robots can share waypoints without maintaining a global coordinate system. The method is tested in a series of real-world multirobot experiments. The results demonstrate that the method: 1) copes with accumulating odometry error; 2) is robust to the failure of individual robots; 3) converges to the best route discovered by any robot in the team. In one experiment, a team of four autonomous mobile robots performs a resource transportation task in our uninstrumented office building. Despite significant divergence of their local coordinate systems, the robots are able to share waypoints, forming and following a common trail between two predetermined locations for more than three hours, traveling a total of 8.2 km (5.1 miles) before running out of power. Designed to scale to large populations, LOST is fully distributed, with low costs in processing, memory, and bandwidth. It combines metric data about the position of features in the world with instructions on how to get from one place to another; producing something between a map and a plan.

80 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
202358
2022179
202194
2020125
2019146
2018129