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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10 Apr 2007TL;DR: A system capable of using an appearance based topological map for navigation and made robust by using the epipolar geometry and a planar floor constraint in computing the necessary heading information to drive robustly in a large environment.
Abstract: Vision systems are used more and more in 'personal' robots interacting with humans, since semantic information about objects and places can be derived from the rich sensory information. Visual information is also used for building appearance based topological maps, which can be used for localization. In this paper we describe a system capable of using this appearance based topological map for navigation. The system is made robust by using the epipolar geometry and a planar floor constraint in computing the necessary heading information. Using this method the robot is able to drive robustly in a large environment. We tested the method on real data under varying environment conditions and compared performance with a human-controlled robot.
168 citations
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06 Nov 2014TL;DR: A new software framework to systematically investigate the effect features and learning algorithms used in the literature is introduced and results for the task of socially compliant robot navigation in crowds are presented, evaluating two different IRL approaches and several feature sets in large-scale simulations.
Abstract: — For mobile robots which operate in human pop-ulated environments, modeling social interactions is key to understand and reproduce people's behavior. A promising approach to this end is Inverse Reinforcement Learning (IRL) as it allows to model the factors that motivate people's actions instead of the actions themselves. A crucial design choice in IRL is the selection of features that encode the agent's context. In related work, features are typically chosen ad hoc without systematic evaluation of the alternatives and their actual impact on the robot's task. In this paper, we introduce a new software framework to systematically investigate the effect features and learning algorithms used in the literature. We also present results for the task of socially compliant robot navigation in crowds, evaluating two different IRL approaches and several feature sets in large-scale simulations. The results are benchmarked according to a proposed set of objective and subjective performance metrics.
168 citations
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01 Jan 2011
TL;DR: This volume constitutes the refereed proceedings of the Second International Conference on Intelligent Robotics and Applications, ICIRA 2009, held in Singapore, in December 2009, and contains 128 revised full papers presented.
Abstract: This volume constitutes the refereed proceedings of the Second International Conference on Intelligent Robotics and Applications, ICIRA 2009, held in Singapore, in December 2009. The 128 revised full papers presented were thoroughly reviewed and selected from 173 submissions. They are organized in topical sections on ubiquitous and cooperative robots in smart space; advanced control on autonomous vehicles; intelligent vehicles: perception for safe navigation; novel techniques for collaborative driver support; robot and automation in tunneling; robot mechanism and design; robot motion analysis; robot motion control; visual perception by robots; computational intelligence by robots; robot and application; and robot and investigation.
168 citations
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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
167 citations
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10 May 2010TL;DR: This work introduces a visitor's companion robot agent, as a natural task for such symbiotic interaction between robot agents and humans to overcome the robot limitations while allowing robots to also help humans.
Abstract: Several researchers, present authors included, envision personal mobile robot agents that can assist humans in their daily tasks. Despite many advances in robotics, such mobile robot agents still face many limitations in their perception, cognition, and action capabilities. In this work, we propose a symbiotic interaction between robot agents and humans to overcome the robot limitations while allowing robots to also help humans. We introduce a visitor's companion robot agent, as a natural task for such symbiotic interaction. The visitor lacks knowledge of the environment but can easily open a door or read a door label, while the mobile robot with no arms cannot open a door and may be confused about its exact location, but can plan paths well through the building and can provide useful relevant information to the visitor. We present this visitor companion task in detail with an enumeration and formalization of the actions of the robot agent in its interaction with the human. We briefly describe the wifi-based robot localization algorithm and show results of the different levels of human help to the robot during its navigation. We then test the value of robot help to the visitor during the task to understand the relationship tradeoffs. Our work has been fully implemented in a mobile robot agent, CoBot, which has successfully navigated for several hours and continues to navigate in our indoor environment.
167 citations