It is argued that the following three properties are foundations of robust robot navigation: The use of landmarks (and, in particular, the use of a compass sense), the use of canonical paths, and the use of topological rather than geometrical maps. Some examples of successful animal navigation are presented that support this view. We have performed initial experiments with mobile robots to inve...

We describe our initial steps toward the realization of a robotic system for assisting fire-fighting and rescue services. The system implements the concept of shared autonomy between the robot and the human operator: the mobile robot performs local navigation, sensing and mapping, while the operator interprets the sensor data and provides strategic navigation goals.

The purpose of this paper is to improve accuracy of robot’s navigation. It is difficult to estimate robot’s position by only odometry. To correct robot’s position uncertainty, we adapt the extended kalman filter to the robot. And to enhance accuracy of robot navigation, we build an indoor global positioning system.

Sensing and interpreting the user’s activities and social behavior, monitoring the dynamics of the social context, and selecting and producing appropriate robot action are the core challenges involved in using robots as social tools in interaction scenarios. In social human-robot interaction, speech and gesture are the commonly considered interaction modalities. In human-human interactions, int...

The challenge of persistent navigation and mapping is to develop an autonomous robot system that can simultaneously localize, map and navigate over the lifetime of the robot with little or no human intervention. Most solutions to the simultaneous localization and mapping (SLAM) problem aim to produce highly accurate maps of areas that are assumed to be static. In contrast, solutions for persist...

In the past, there has been a tremendous progress in the area of autonomous robot navigation and a large variety of robots have been developed who demonstrated robust navigation capabilities indoors, in non-urban outdoor environments, or on roads and relatively few approaches focus on navigation in urban environments such as city centers. Urban areas, however, introduce numerous challenges for ...

The potential applications for mobile robots are enormous. The mobile robots must quickly and robustly perform useful tasks in a previously unknown, dynamic and challenging environment. Mobile robot navigation plays a key role in all mobile robot activities and tasks such as path planning. Mobile robots are machines which navigate around their environment getting sensory information about that ...

The study on biped locomotion in humanoid robots has gained great interest since the last decades (Hirai et. al. 1998, Hirukawa et. al., 2004, Ishiguro, 2007). This interest are motivated from the high level of mobility, and the high number of degrees of freedom allow this kind of mobile robot adapt and move upon very unstructured sloped terrain. Eventually, it is more desirable to have robots ...

The coexistence of service robots in social environments has been intensified recent years, demanding Human-Robot Interaction (HRI) increasingly fluid and necessary. In this context, the present work aims to develop an architecture, called Erika. Erika provides a chatbot interact by voice text commands with robot, who implements autonomous navigation, respecting restrictions based on proxemic z...

As the capabilities of the mobile robots as well as their abilities to perform more tasks in an autonomous manner are increased, we need to think about the interactions that humans will have with these robots. Human-robot interaction (HRI) has recently received considerable attention in the academic community, government labs, technology companies, and through the media. The interdisciplinary n...