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One of the goals in the field of mobile robotics is the development of mobile platforms which operate in populated environments and offer various services to humans. For many tasks it is highly desirable that a robot can determine the positions of the humans in its surrounding. In this paper we present a method for tracking multiple moving objects with a(More)
This article describes the software architecture of an autonomous, interactive tour-guide robot. It presents a modular and distributed software architecture, which integrates localization, mapping, collision avoidance, planning, and various modules concerned with user interaction and Web-based telepresence. At its heart, the software approach relies on(More)
This paper describes the software architecture of an autonomous tour-guide/tutor robot. This robot was recently deployed in the “Deutsches Museum Bonn,” were it guided hundreds of visitors through the museum during a six-day deployment period. The robot’s control software integrates low-level probabilistic reasoning with high-level problem solving embedded(More)
L ocation awareness is important to many pervasive computing applications. Unfortunately, no location sensor takes perfect measurements or works well in all situations. Thus, the motivation behind this article is twofold. First, we believe the pervasive computing community will benefit from a concise survey of Bayesian-filter techniques. Because no sensor(More)
This paper describes an interactive tour-guide robot, which was successfully exhibited in a Smithsonian museum. During its two weeks of operation, the robot interacted with more than 50,000 people, traversing more than 44km. Our approach specifically addresses issues such as safe navigation in unmodified and dynamic environments, and shortterm human-robot(More)
This paper describes Minerva, an interactive tour-guide robot that was successfully deployed in a Smithsonian museum. Minerva’s software is pervasively probabilistic, relying on explicit representations of uncertainty in perception and control. This article describes Minerva’s major software components, and provides a comparative analysis of the results(More)
One of the goals in the field of mobile robotics is the development of mobile platforms which operate in populated environments. For many tasks it is therefore highly desirable that a robot can track the positions of the humans in its surrounding. In this paper we introduce sample-based joint probabilistic data association filters as a new algorithm to(More)
We present an integrated approach to multirobot exploration, mapping and searching suitable for large teams of robots operating in unknown areas lacking an existing supporting communications infrastructure. We present a set of algorithms that have been both implemented and experimentally verified on teams—of what we refer to as Centibots—consisting of as(More)
The problem of learning maps with mobile robots has received considerable attention over the past years. Most of the approaches, however, assume that the environment is static during the data-acquisition phase. In this paper we consider the problem of creating maps with mobile robots in populated environments. Our approach uses a probabilistic method to(More)
One of the goals in the field of mobile robotics is the development of mobile platforms which operate in populated environments. For many tasks it is therefore highly desirable that a robot can determine the positions of the humans in its surrounding. In this paper we introduce sample-based joint probabilistic data association filters to track multiple(More)