Development of ROS-TMS 5.0 for informationally structured environment

Sakamoto, Junya; Kiyoyama, Kouhei; Matsumoto, Kenichi; Pyo, Yoonseok; Kawamura, Akira; Kurazume, Ryo

doi:10.1186/s40648-018-0123-9

Cited by 12 publications

(5 citation statements)

References 29 publications

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“…In the future, we intend to improve the stability of the developed tour guide robot system by combining sensors including not only on-board sensors, such as 2D LiDAR and cameras, but also ambient sensors embedded based on the concept of the informationally structured environment [12]. In addition, pedestrian detection and tracking are also important functions for a safe and efficient autonomous robot system, and we intend to implement these functions and develop a practical tour guide robot system.…”

Section: Resultsmentioning

confidence: 99%

“…In particular, due to the rapid development of communication technology, various systems for conducting service tasks using robots over networks have been constructed [10][11][12]. Regarding communication technology, 5G is being developed and introduced as a next-generation wireless communication technology that enables large-capacity data to be handled by wireless communication.…”

Section: Introductionmentioning

confidence: 99%

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Development of a tour guide and co-experience robot system using the quasi-zenith satellite system and the 5th-generation mobile communication system at a Theme Park

et al. 2021

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Autonomous robots are expected to replace dangerous, dirty, and demanding (3D) jobs. At a theme park, surveillance, cleaning, and guiding tasks can be regarded as 3D jobs. The present paper attempts to develop an autonomous tour guide robot system and co-experience system at a large theme park. For realizing such autonomous service robots used in our daily environment, localization is one of the most important and fundamental functions. A number of localization techniques, including simultaneous localization and mapping, have been proposed. Although a global navigation satellite system (GNSS) is most commonly used in outdoor environments, its accuracy is approximately 10 m, which is inadequate for navigation of an autonomous service robot. Therefore, a GNSS is usually used together with other localization techniques, such as map matching or camera-based localization. In the present study, we adopt the quasi-zenith satellite system (QZSS), which became available in and around Japan in November 2018, for the localization of an autonomous service robot. The QZSS provides high-accuracy position information using quasi-zenith satellites (QZSs) and has a localization error of less than 10 centimeters. In the present paper, we compare the positioning performance of the QZSS and the real-time kinematic GPS and verify the stability and the accuracy of the QZSS in an outdoor environment. In addition, we introduce a tour guide robot system using the QZSS and present the results of a guided tour experiment in a theme park. On the other hand, based on the tour guide system, we also develop a co-experience robot system in a theme park, which realizes the sharing of experiences using an immersive VR display and the 5th-generation mobile communication system (5G). The robot is equipped with a 360-degree video camera and real-time 4K video is transmitted to a remote operator using the large communication capacity of the 5G network. The experimental results at a theme park showed that the guided tour experiment was successful and that the co-experience system allowed sharing of the experience with high immersion by a remote operator.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Development of a tour guide and co-experience robot system using the quasi-zenith satellite system and the 5th-generation mobile communication system at a Theme Park

et al. 2021

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“…Figure 12 shows images of the user's viewpoint and the actual robot motion. The user asks the ROS-TMS to allow a robot to bring him/her a snack by a voice command [13]. The ROS-TMS then starts to make a motion plan for a service robot.…”

Section: Previewed Reality 20mentioning

confidence: 99%

“…CONTACT Ryo Kurazume kurazume@ait.kyushu-u.ac.jp Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka 8190395, Japan Supplemental data for this article can be accessed here. https://doi.org/10.1080/01691864.2020.1829041 management system (ROS-TMS) [12,13], which provides information processing system for an ISE based on a ROS. Figure 1 shows the architecture of the ROS-TMS.…”

Section: Introductionmentioning

confidence: 99%

Near-future perception system: Previewed Reality

et al. 2020

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The present paper introduces a near-future perception system called Previewed Reality. In a coexistence environment of a human and a robot, unexpected collisions between the human and the robot must be avoided to the extent possible. In many cases, the robot is controlled carefully so as not to collide with a human. However, it is almost impossible to perfectly predict human behavior in advance. On the other hand, if a user can determine the motion of a robot in advance, he/she can avoid a hazardous situation and exist safely with the robot. In order to ensure that a user perceives future events naturally, we developed a near-future perception system named Previewed Reality. Previewed Reality consists of an informationally structured environment, a VR display or an AR display, and a dynamics simulator. A number of sensors are embedded in an informationally structured environment, and information such as the position of furniture, objects, humans, and robots, is sensed and stored structurally in a database. Therefore, we can forecast possible subsequent events using a robot motion planner and a dynamics simulator and can synthesize virtual images from the viewpoint of the user, which will actually occur in the near future. The viewpoint of the user, which is the position and orientation of a VR display or an AR display, is also tracked by an optical tracking system in the informationally structured environment, or the SLAM technique on an AR display. The synthesized images are presented to the user by overlaying these images on a real scene using the VR display or the AR display. This system provides human-friendly communication between a human and a robotic system, and a human and a robot can coexist safely by intuitively showing the human possible hazardous situations in advance.

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“…We have been developing a software platform named the ROS-Town Management System (ROS-TMS) [1] for the ISE [2,3]. ROS-TMS consists of several hierarchical layers that have functions for the control system of robots and sensors: the understanding of sensory information, task planning and execution, human interfaces, and a database.…”

Section: Introductionmentioning

confidence: 99%

Development of mobile sensor terminals “Portable Go” for navigation in informationally structured and unstructured environments

et al. 2019

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This paper proposes a navigation system of a personal mobility robot in informationally structured and unstructured environments. First, we introduce a group of robots named Portable Go, which are equipped with laser range finders, gyros, and omni-directional wheels. The Portable Go robots expand the informationally structured environment by deploying in the informationally unstructured environment in advance. Then, a personal mobility robot based on an electric wheelchair is guided by eleven Portable Go robots in the new informationally structured environment which is just created by the Portable Go robots. Through navigation experiments, we verify that the proposed system navigates the personal mobility robot from the informationally structured environment to the informationally unstructured environment smoothly by using the Portable Go robots. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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Development of ROS-TMS 5.0 for informationally structured environment

Cited by 12 publications

References 29 publications

Development of a tour guide and co-experience robot system using the quasi-zenith satellite system and the 5th-generation mobile communication system at a Theme Park

Development of a tour guide and co-experience robot system using the quasi-zenith satellite system and the 5th-generation mobile communication system at a Theme Park

Near-future perception system: Previewed Reality

Development of mobile sensor terminals “Portable Go” for navigation in informationally structured and unstructured environments

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