10,692 research outputs found
Virtual Borders: Accurate Definition of a Mobile Robot's Workspace Using Augmented Reality
We address the problem of interactively controlling the workspace of a mobile
robot to ensure a human-aware navigation. This is especially of relevance for
non-expert users living in human-robot shared spaces, e.g. home environments,
since they want to keep the control of their mobile robots, such as vacuum
cleaning or companion robots. Therefore, we introduce virtual borders that are
respected by a robot while performing its tasks. For this purpose, we employ a
RGB-D Google Tango tablet as human-robot interface in combination with an
augmented reality application to flexibly define virtual borders. We evaluated
our system with 15 non-expert users concerning accuracy, teaching time and
correctness and compared the results with other baseline methods based on
visual markers and a laser pointer. The experimental results show that our
method features an equally high accuracy while reducing the teaching time
significantly compared to the baseline methods. This holds for different border
lengths, shapes and variations in the teaching process. Finally, we
demonstrated the correctness of the approach, i.e. the mobile robot changes its
navigational behavior according to the user-defined virtual borders.Comment: Accepted on 2018 IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS), supplementary video: https://youtu.be/oQO8sQ0JBR
RFID Localisation For Internet Of Things Smart Homes: A Survey
The Internet of Things (IoT) enables numerous business opportunities in
fields as diverse as e-health, smart cities, smart homes, among many others.
The IoT incorporates multiple long-range, short-range, and personal area
wireless networks and technologies into the designs of IoT applications.
Localisation in indoor positioning systems plays an important role in the IoT.
Location Based IoT applications range from tracking objects and people in
real-time, assets management, agriculture, assisted monitoring technologies for
healthcare, and smart homes, to name a few. Radio Frequency based systems for
indoor positioning such as Radio Frequency Identification (RFID) is a key
enabler technology for the IoT due to its costeffective, high readability
rates, automatic identification and, importantly, its energy efficiency
characteristic. This paper reviews the state-of-the-art RFID technologies in
IoT Smart Homes applications. It presents several comparable studies of RFID
based projects in smart homes and discusses the applications, techniques,
algorithms, and challenges of adopting RFID technologies in IoT smart home
systems.Comment: 18 pages, 2 figures, 3 table
Special issue on smart interactions in cyber-physical systems: Humans, agents, robots, machines, and sensors
In recent years, there has been increasing interaction between humans and nonâhuman systems as we move further beyond the industrial age, the information age, and as we move into the fourthâgeneration society. The ability to distinguish between human and nonâhuman capabilities has become more difficult to discern. Given this, it is common that cyberâphysical systems (CPSs) are rapidly integrated with human functionality, and humans have become increasingly dependent on CPSs to perform their daily routines.The constant indicators of a future where human and nonâhuman CPSs relationships consistently interact and where they allow each other to navigate through a set of nonâtrivial goals is an interesting and rich area of research, discovery, and practical work area. The evidence of con- vergence has rapidly gained clarity, demonstrating that we can use complex combinations of sensors, artificial intelli- gence, and data to augment human life and knowledge. To expand the knowledge in this area, we should explain how to model, design, validate, implement, and experiment with these complex systems of interaction, communication, and networking, which will be developed and explored in this special issue. This special issue will include ideas of the future that are relevant for understanding, discerning, and developing the relationship between humans and nonâ human CPSs as well as the practical nature of systems that facilitate the integration between humans, agents, robots, machines, and sensors (HARMS).Fil: Kim, Donghan. Kyung Hee University;Fil: Rodriguez, Sebastian Alberto. Universidad TecnolĂłgica Nacional; Argentina. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - TucumĂĄn; ArgentinaFil: Matson, Eric T.. Purdue University; Estados UnidosFil: Kim, Gerard Jounghyun. Korea University
A Framework for Interactive Teaching of Virtual Borders to Mobile Robots
The increasing number of robots in home environments leads to an emerging
coexistence between humans and robots. Robots undertake common tasks and
support the residents in their everyday life. People appreciate the presence of
robots in their environment as long as they keep the control over them. One
important aspect is the control of a robot's workspace. Therefore, we introduce
virtual borders to precisely and flexibly define the workspace of mobile
robots. First, we propose a novel framework that allows a person to
interactively restrict a mobile robot's workspace. To show the validity of this
framework, a concrete implementation based on visual markers is implemented.
Afterwards, the mobile robot is capable of performing its tasks while
respecting the new virtual borders. The approach is accurate, flexible and less
time consuming than explicit robot programming. Hence, even non-experts are
able to teach virtual borders to their robots which is especially interesting
in domains like vacuuming or service robots in home environments.Comment: 7 pages, 6 figure
Conceptual spatial representations for indoor mobile robots
We present an approach for creating conceptual representations of human-made indoor environments using mobile
robots. The concepts refer to spatial and functional properties of typical indoor environments. Following ïŹndings
in cognitive psychology, our model is composed of layers representing maps at diïŹerent levels of abstraction. The
complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition.
The system also incorporates a linguistic framework that actively supports the map acquisition process, and which
is used for situated dialogue. Finally, we discuss the capabilities of the integrated system
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