Learn More
— The success of mobile robots, and particularly of those interfacing with humans in daily environments (e.g., assistant robots), relies on the ability to manipulate information beyond simple spatial relations. We are interested in semantic information, which gives meaning to spatial information like images or geometric maps. We present a multi-hierarchical(More)
This article addresses the problem of mobile robot localization using Ultra-Wide-Band (UWB) range measurements. UWB is a radio technology widely used for communications that recently is receiving increasing attention also for positioning applications. In these cases, the position of a mobile transceiver is determined from the distances to a set of fixed,(More)
Task planning for mobile robots usually relies solely on spatial information and on shallow domain knowledge, like labels attached to objects and places. Although spatial information is necessary for performing basic robot operations (navigation and localization), the use of deeper domain knowledge is pivotal to endow a robot with higher degrees of autonomy(More)
To date, no solution has been proposed to human-machine interactive task planning that deals simultaneously with two important issues: 1) the capability of processing large amounts of information in planning (as it is needed in any real application) and 2) being efficient in human-machine communication (a proper set of symbols for human-machine interaction(More)
Ultra-Wide Band (UWB) sensors are innovative devices constructed for efficient wireless communications that are recently being used for vehicle localization in indoor environments. In contrast, GPS sensors are well-known satellite-based positioning devices widely extended for outdoor applications. We evaluate in this paper the combination of both(More)
This paper presents an application of a multihierarchical, symbolic model of large-scale space for representing the environment of a robotic wheelchair that has been automated for assistance to mobility impaired people. Rehabilitation robotics has an issue that is not present in mobile robotics: the need for an interface with the human driver. Our(More)
— In this paper we consider the problem of creating a two dimensional spatial representation of gas distribution with a mobile robot. In contrast to previous approaches to the problem of gas distribution mapping (GDM) we do not assume that the robot has perfect knowledge about its position. Instead we develop a probabilistic framework for simultaneous(More)
Robotic telepresence is a promising tool for enhancing remote communications in a variety of applications. It enables a person to embody a robot and interact within a remote place in a direct and natural way. A particular scenario where robotic telepresence demonstrates its advantages is in elder telecare applications in which a caregiver regularly connects(More)
— Task planning in mobile robotics should be performed efficiently due to real time requirements of robot-environment interaction. Its computational efficiency depends both on the number of operators (actions the robot can perform without planning) and the size of the world states (descriptions of the world before and after the application of operators).(More)