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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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Proceedings ArticleDOI
01 Aug 2016
TL;DR: It is concluded that lights could be generally used as an effective non-verbal communication modality for mobile robots in the absence of, or as a complement to, other modalities.
Abstract: In order to be successfully integrated into human-populated environments, mobile robots need to express relevant information about their state to the outside world. In particular, animated lights are a promising way to express hidden robot state information such that it is visible at a distance. In this work, we present an online study to evaluate the effect of robot communication through expressive lights on people's understanding of the robot's state and actions. In our study, we use the CoBot mobile service robot with our light interface, designed to express relevant robot information to humans. We evaluate three designed light animations on three corresponding scenarios for each, for a total of nine scenarios. Our results suggest that expressive lights can play a significant role in helping people accurately hypothesize about a mobile robot's state and actions from afar when minimal contextual clues are present. We conclude that lights could be generally used as an effective non-verbal communication modality for mobile robots in the absence of, or as a complement to, other modalities.

58 citations

Proceedings ArticleDOI
19 May 2008
TL;DR: A novel image-based exploration algorithm that facilitates a mobile robot equipped only with a monocular pan-tilt camera to autonomously explore a typical indoor environment and infers frontier information directly from the images and displaces the robot towards regions that are informative for navigation.
Abstract: Image-based navigation paradigms have recently emerged as an interesting alternative to conventional model- based methods in mobile robotics. In this paper, we augment the existing image-based navigation approaches by presenting a novel image-based exploration algorithm. The algorithm facilitates a mobile robot equipped only with a monocular pan-tilt camera to autonomously explore a typical indoor environment. The algorithm infers frontier information directly from the images and displaces the robot towards regions that are informative for navigation. The frontiers are detected using a geometric context-based segmentation scheme that exploits the natural scene structure in indoor environments. In the due process, a topological graph of the workspace is built in terms of images which can be subsequently utilised for the tasks of localisation, path planning and navigation. Experimental results on a mobile robot in an unmodified laboratory and corridor environments demonstrate the validity of the approach.

57 citations

Proceedings ArticleDOI
Arto Puikkonen1, Ari-Heikki Sarjanoja1, Merja Haveri1, Jussi Huhtala1, Jonna Häkkilä1 
22 Nov 2009
TL;DR: The findings that the visualizations and UI designs resembling conventional outdoor maps or floor layouts are not optimal for indoor navigation are revealed, and recommendations for the future design of indoor navigation systems are presented.
Abstract: Recent development in indoor navigation systems and related studies imply that these applications will become common in the future. A variety of solutions utilizing different mediums is being developed. Lately, a range of mobile devices have started to support outdoor pedestrian navigation, and these devices presumably keep guiding the users also when moving indoors. However, the design patterns from the outdoor world do not necessarily work indoors. In order to understand the distinctive UI requirements of indoor navigation, we conducted a user study involving 23 people using a mobile phone-based, location-sensitive service. In this paper, we reveal our findings that the visualizations and UI designs resembling conventional outdoor maps or floor layouts are not optimal for indoor navigation, and present recommendations for the future design of indoor navigation systems.

57 citations

Patent
04 May 2010
TL;DR: In this article, a system for guidance and navigation in a building with a hazardous condition is proposed, where the system determines a route for egress or rescue of one or more people from a building.
Abstract: A system for guidance and navigation in a building For example, the system may determine a route for egress or rescue of one or more people from a building with a hazardous condition The system may process the route into waypoints and segments developed within a set of constraint rules Semantic information about the building may be associated with the waypoints and/or segments The waypoints and segments may be processed into navigation commands The navigation commands may be formed in natural language from sentence templates The system may additionally have 3D beacon audio to assist in guidance and navigation of the one or more people in the building

57 citations

Proceedings ArticleDOI
09 May 2011
TL;DR: A navigation scheme that is anthropomorphic, i.e. that emulates human behaviors and seeks to adhere to these social rules that are imposed by the people populating the robot's workspace is proposed.
Abstract: This paper is concerned with the navigation of personal robots in human-populated environments. The behavior of a person among its peers is governed by a number of unspoken social rules, e.g. maintaining an appropriate distance. The primary contribution of this paper is a navigation scheme that is anthropomorphic, i.e. that emulates human behaviors and seeks to adhere to these social rules. Unlike previous works in this area, the focus herein is on dynamic scenarios. The navigation scheme proposed explicitly reasons on the future behavior of the people involved so as to produce better socially acceptable trajectories (not to mention safer trajectories as well). The navigation scheme relies upon a novel cost function called the social costmap that captures in a unified way the different social rules imposed by the people populating the robot's workspace.

57 citations


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