Topic
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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TL;DR: The efficiency of multiagent schema-based navigation for object retrieval over several identical units is demonstrated as evidenced by spontaneous recruitment of several agents to accomplish a task.
Abstract: Multiagent robotics affords the opportunity to solve problems more efficiently and effectively than any single agent could achieve. Nonetheless, communication bottlenecks between agents pose potentially serious drawbacks in coordinated behavior. In this research, we demonstrate the efficiency of multiagent schema-based navigation for object retrieval. Primitive motor behaviors are specified for each of the individual robotic agents, which produce safe task-achieving action in an unstructured environment. When implemented over several identical units, retrieval is facilitated in the absence of interagent communication as evidenced by spontaneous recruitment of several agents to accomplish a task. Simulation results are provided to demonstrate these effects. Extensions to other task-achieving behaviors are also feasible.
300 citations
TL;DR: The design and experimental validation of a large heterogeneous mobile robot team built for the DARPA Software for Distributed Robotics (SDR) program is described and selected results from supervised experiments conducted in a 600 m 2 indoor environment are presented.
Abstract: We describe the design and experimental validation of a large heterogeneous mobile robot team built for the DARPA Software for Distributed Robotics (SDR) program. The core challenge for the SDR program was to develop a multi-robot system capable of carrying out a specific mission: to deploy a large number of robots into an unexplored building, map the building interior, detect and track intruders, and transmit all of the above information to a remote operator. To satisfy these requirements, we developed a heterogeneous robot team consisting of approximately 80 robots. We sketch the key technical elements of this team, focusing on the novel aspects, and present selected results from supervised experiments conducted in a 600 m 2 indoor environment.
299 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
IBM1
TL;DR: Describes a three-layer architecture, SSS, for robot control that combines a servo-control layer, a subsumption layer, and a symbolic layer in a way that allows the advantages of each technique to be fully exploited.
Abstract: Describes a three-layer architecture, SSS, for robot control. It combines a servo-control layer, a subsumption layer, and a symbolic layer in a way that allows the advantages of each technique to be fully exploited. The key to this synergy is the interface between the individual subsystems. The design of situation recognizers that bridge the gap between the servo and subsumption layers, and event detectors that link the subsumption layers and symbolic layers are discussed. The development of such a combined system is illustrated by a fully implemented indoor navigation example. The resulting robot was able to automatically map office building environments, and smoothly navigate through them at the rapid speed of 2.6 feet per second. >
295 citations
06 Jul 2004
TL;DR: An algorithm based on processing of radio signal strength data was developed so the robot could successfully decide which node neighborhood it belonged to, and extensive experiments confirm the validity of the approach.
Abstract: We describe an algorithm for robot navigation using a sensor network embedded in the environment. Sensor nodes act as signposts for the robot to follow, thus obviating the need for a map or localization on the part of the robot. Navigation directions are computed within the network (not on the robot) using value iteration. Using small low-power radios, the robot communicates with nodes in the network locally, and makes navigation decisions based on which node it is near. An algorithm based on processing of radio signal strength data was developed so the robot could successfully decide which node neighborhood it belonged to. Extensive experiments with a robot and a sensor network confirm the validity of the approach.
295 citations