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Over the past few years, many research groups have attempted to build smart environments. Recently, several groups have been actively conducting research into the construction of smart home environment for service robots to be used as assistants. A home service robot must have are localization, navigation, object recognition, and object handling functionalities. These operations are usually performed...
Home-service robots are expected to perform a wide range of tasks commonly encountered in a household environment. For autonomous operations robots should be able to plan their actions to carry out these tasks in advance and they should at least have the ability to plan for additional tasks during their operation. Because of the variability and uncertainty in the environment, it is best to endow robots...
The characteristics of the behaviors of home- service robots are different from those of other intelligent systems. Based on these characteristics, we developed a task model that can both support meaningful interactions and improve task performance. The task model is able to generate the robot's diverse actions and aid its interaction management. A decision/interaction model was established to decide...
This paper introduces the system development of the ubiquitous computing environment, called easy interaction room (EIR), in which humans can get intelligent robotic services with easy interaction. The room has been built to research the roles between the ubicomp environment and service robot in it. Also EIR system collaborates on a special home service with the monolithic robot platform. In this...
We address issues dealing with visual perception for a personal service robot in the intelligent home environment. We identify key visual functionalities necessary for the robot to perform its activities. They include people detection and identification, gesture recognition, and self-localization. We propose an efficient and reliable framework to organize and coordinate the vision sensor nodes: fixed...
One of the functionalities a service robot should have, to work in a smart environment, is object recognition and handling of objects. Many researchers have attempted to make service robots recognize objects in natural environments but no conventional vision systems can recognize target objects in complex scenes. We built a prototype smart environment in our research building at Korea Institute of...
This paper reviews and discusses many issues and implementation details of an intelligent home service robot in a URC (Ubiquitous Robotic Companion) environment. In contrast to standalone service robots, URC service robots provide a variety of functions by the full utilization of network infrastructure. Many challenges are waiting to be faced in front of us-for example, the execution and coordination...
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