Towards ROS Based Multi-robot Architecture for Ambient Assisted Living

Li, Ruijiao; Oskoei, Mohammadreza Asghari; Hu, Huosheng

doi:10.1109/smc.2013.590

Cited by 14 publications

(11 citation statements)

References 14 publications

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“…One example is WAMbot, which was developed to use visual object recognition to navigate, discover and map a large urban environment [44]. Another example is a ROS-based multi-robot architecture for ambient assisted living [45]. Furthermore, a collision avoidance technique with localization uncertainty for MRSs was developed with ROS in [46].…”

Section: Robot Operating System Networking Servicesmentioning

confidence: 99%

Networking of Multi-Robot Systems: Architectures and Requirements

Jawhar

Mohamed

et al. 2018

JSAN

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A large number of advancements have taken place in microprocessor-based systems leading to significantly more processing, memory, storage, sensing, actuating, recognition, controlling and communication capabilities. Robotics is one of the areas that have benefited a lot from these advancements. Many important and useful applications for single-robot and multi-robot systems (MRS) have emerged. Such applications include search and rescue, detection of forest fires, mining, construction, disaster management, and many more. MRS systems greatly enhance the capabilities and effectiveness of today’s robots. They extend the robotic system capabilities by increasing the ability to perform more complex tasks and allow performance of inherently distributed ones. In addition, they increase parallelism, enhance robustness, and improve system reliability. However, to perform their tasks in an effective manner, communication between the individual robots becomes an essential component. In this paper, we discuss the various types and architectures of MRS systems and focus on the networking issues, and services that are required to enable MRS systems to be more efficient in performing their roles in their respective applications. We also identify the similarities and differences between mobile ad hoc networks (MANETs) and MRS systems, analyze robot-to-robot (R2R) and robot-to-infrastructure (R2I) communication links, and identify the protocols that can be used at the various levels in the MRS hierarchy.

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Section: Robot Operating System Networking Servicesmentioning

confidence: 99%

Networking of Multi-Robot Systems: Architectures and Requirements

Jawhar

Mohamed

et al. 2018

JSAN

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“…Oskoei et al [23] devised a multi robot architecture using AAL for elderly people which is based on robot operating system (ROS). The users interact with robot and smart home via human-machine interface (HMI).…”

Section: International Journal Of Computer Applications (0975 -8887) mentioning

confidence: 99%

A Review on Applications of Ambient Assisted Living

Desai¹,

Jhaveri²

2017

IJCA

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The use of smart environments in the delivery of a pervasive care is the research topic that has witnessed increasing interest in recent years. These environments aim to deliver pervasive care through ubiquitous sensing by monitoring the occupant's activities of daily living. In order for these environments to succeed in achieving their goal, it is crucial that sensors deployed in the environments perform faultlessly. Ambient Assisted Living (AAL) is currently one of the important research and development areas, where accessibility, usability, and learning play a major role and where future interfaces are an important concern for applied engineering. In this paper, we discuss the research work carried out for various applications of AAL. We summarize techniques and tools for AAL and also their benefits and limitations. Using a summarized data we also look for different future challenges. The aim of this paper is to survey different AAL technologies to assist the elderly people to live in a smart environment.

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“…The definition of argmin function to calculate the saliency can be expressed in Equation (6), where the comparison of the Kinect points is done by l 2 -norm of the vectors defined with the each Kinect point to the each map point; in other way, Euclidean distance of the Kinect points to the each occupied region in spatial memory.…”

Section: A D V a N C E S I N I M A G E A N D V I D E O P R O C E S S mentioning

confidence: 99%

“…The significance and necessity of assistive technologies in medical and service industry have been growing as a research field for daily life [1][2][3][4][5][6][7][8]. Researchers should introduce projects to improve the people's or society's quality of life; especially, for the people who are in demand such as elderly or people with disabilities.…”

Section: Introductionmentioning

confidence: 99%

Top-down Spatial Attention for Visual Search: Novelty Detection-Tracking Using Spatial Memory with a Mobile Robot

İmamoğlu

Dorronzoro

Sekine

et al. 2014

AIVP

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Assistive robotics technologies have been growing impact on at-home monitoring services to support daily life. One of the main research fields is to develop an autonomous mobile robot with the tasks detection, tracking, observation and analysis of the subject of interest in the indoor environment. The main challenges in such daily monitoring application, thus in visual search, are that the robot should track the subject successfully in several severe varying conditions. Recent color and depth image based visual search methods can help to handle part of the problems, such as changing illumination, occlusion, and etc. but these methods generally use large amount of training data by checking the whole scene with high redundancy to find the region of interest. Therefore, inspired by the idea that spatial memory can reveal novelty regions for finding the attention points as in Human Visual System (HVS), we proposed a simple and novel algorithm that integrates Kinect and Lidar(Light Detection And Ranging) sensor data to detect and track novelties using the environment map of the robot as a topdown approach without the necessity of large amount of training data. Then, novelty detection and tracking is achieved based on space based saliency map representing the novelty on the scene. Experimental results demonstrated that the proposed visual attention based scene analysis can handle various conditions stated and achieve high accuracy of novelty detection and tracking.

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Towards ROS Based Multi-robot Architecture for Ambient Assisted Living

Cited by 14 publications

References 14 publications

Networking of Multi-Robot Systems: Architectures and Requirements

Networking of Multi-Robot Systems: Architectures and Requirements

A Review on Applications of Ambient Assisted Living

Top-down Spatial Attention for Visual Search: Novelty Detection-Tracking Using Spatial Memory with a Mobile Robot

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