The mobot museum robot installations: a five year experiment

Nourbakhsh, Illah; Kunz, C.; Willeke, Thomas

doi:10.1109/iros.2003.1249720

Cited by 116 publications

(74 citation statements)

References 4 publications

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“…The barcodes are primarily for assistance with localization, as done in similar fashion in several previous works. For example, the well-known SAGE project [6] used colored landmarks visible at all times to maintain the robot pose for a tour-guide robot within a museum, while the AprilTag system [7] performs full 6-DOF localization and has been shown to be very robust with respect to camera irregularities and lighting, partly due to its use of simple code images. For our project, we have specifically chosen QR codes so that they can be used by humans in the building as well.…”

Section: A Cameras and Barcodesmentioning

confidence: 99%

Easily-programmable corobots for student use

Butler

Bogue

Johar

et al. 2013

2013 16th International Conference on Advanced Robotics (ICAR)

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Abstract-As mobile robots become more prevalent in our society, there are numerous potential applications for them. However, current educational opportunities tend to focus on the robotics aspects rather than higher-level applications. In this project, we are developing a system that takes care of the robotics aspects and provides a fully-capable yet fully programmable platform to allow students with interests in areas outside robotics can learn the traditional computing concepts within the robot context. These interactive robots, or "corobots", will operate within the department alongside people while performing tasks as programmed by the students. Here we present the overall system architecture, in which we solve fairly traditional problems but in a robust way that will allow for general use, and a student API which can control the robots at a high level while integrated with arbitrary other code.

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Section: A Cameras and Barcodesmentioning

confidence: 99%

Easily-programmable corobots for student use

Butler

Bogue

Johar

et al. 2013

2013 16th International Conference on Advanced Robotics (ICAR)

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“…RHINO [3], the first robotic tour guide, subsequently MINERVA [4], Mobots [5], Robox [6] and Jinny [7] navigate around museum environments with varying degrees of success. Since these robots operated in environments which were highly dynamic, their success depended on efficient localization.…”

Section: Related Workmentioning

confidence: 99%

Failure recovery with shared autonomy

Sankaran

Pitzer

Osentoski

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Building robots capable of long term autonomy has been a long standing goal of robotics research. Such systems must be capable of performing certain tasks with a high degree of robustness and repeatability. In the context of personal robotics, these tasks could range anywhere from retrieving items from a refrigerator, loading a dishwasher, to setting up a dinner table. Given the complexity of tasks there are a multitude of failure scenarios that the robot can encounter, irrespective of whether the environment is static or dynamic. For a robot to be successful in such situations, it would need to know how to recover from failures or when to ask a human for help.This paper, presents a novel shared autonomy behavioral executive to addresses these issues. We demonstrate how this executive combines generalized logic based recovery and human intervention to achieve continuous failure free operation. We tested the systems over 250 trials of two different use case experiments. Our current algorithm drastically reduced human intervention from 26% to 4% on the first experiment and 46% to 9% on the second experiment. This system provides a new dimension to robot autonomy, where robots can exhibit long term failure free operation with minimal human supervision. We also discuss how the system can be generalized.

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“…Before starting close interactions, indeed, mobile social robot have to detect people and approach them. This is also necessary for robots to attract human attention and explicitly ask for help in case they need assistance [34].…”

Section: Related Workmentioning

confidence: 99%

A Bank of Unscented Kalman Filters for Multimodal Human Perception with Mobile Service Robots

Bellotto

2010

Int J of Soc Robotics

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A new generation of mobile service robots could be ready soon to operate in human environments if they can robustly estimate position and identity of surrounding people. Researchers in this field face a number of challenging problems, among which sensor uncertainties and real-time constraints. In this paper, we propose a novel and efficient solution for simultaneous tracking and recognition of people within the observation range of a mobile robot. Multisensor techniques for legs and face detection are fused in a robust probabilistic framework to height, clothes and face recognition algorithms. The system is based on an efficient bank of Unscented Kalman Filters that keeps a multi-hypothesis estimate of the person being tracked, including the case where the latter is unknown to the robot. Several experiments with real mobile robots are presented to validate the proposed approach. They show that our solutions can improve the robot's perception and recognition of humans, providing a useful contribution for the future application of service robotics.

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The mobot museum robot installations: a five year experiment

Cited by 116 publications

References 4 publications

Easily-programmable corobots for student use

Easily-programmable corobots for student use

Failure recovery with shared autonomy

A Bank of Unscented Kalman Filters for Multimodal Human Perception with Mobile Service Robots

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