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Human-robot interaction is an important issue for service robots. In this paper, we propose to utilize the multisensory data fusion to autonomously detect and track an accompanist as a target person in the surroundings of the mobile robot. First, we use laser range finder to detect the target person features which is characterized using distances and orientations from range sensor readings. Based...
This paper addresses the problem of robotics trajectory building for efficient navigation and consequently exploration. A concept of beta-eigenvector has been introduced to find an outlier for the existing non-point based trajectory obtained from raw laser data. We have used our paradigm of “free configuration eigenspaces” method, with specific focus on outlier detection. The key idea proposed in...
This paper presents a trajectory planning strategy of a four-wheeled mobile robot in an obstructed environment. Two 2-dimensional laser ranger finders are equipped on the mobile robot in order to perform sensor-based planning without any a priori knowledge about its environment. The potential field method is utilized to create force fields around obstacles and a goal. Look-ahead control is adopted...
Mobile robots are nowadays capable of navigating in a semi-structured environment, either alone or in formations. Dealing with mobile obstacles, e.g. persons, in everyday environments poses additional challenges which are being addressed by the research community. This paper presents an experiment with a set of robots -acting as a swarm- and one person. The aim of such robot-human squad is to explore...
In this paper, we present a mobile robot global positioning system which combines passive RFID and monocular vision. The method is intended to solve the so-called kidnapped robot problem, that is, the problem of estimating the robot pose when it is first booted up or it has been kidnapped and taken to some unknown location. The main novelty of the approach is the use of fuzzy logic to cope with both...
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