Drazen Brscic

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—A method for tracking the position, orientation, and height of persons in large public environments is presented. Such information is known to be useful both for understanding their actions, as well as for applications such as human-robot interaction. We use multiple three-dimensional range sensors, mounted above human height to have less occlusion between(More)
This paper presents a novel robotic architecture that is suitable for modular distributed multi-robot systems. The architecture is based on an interface supporting real-time inter-process communication, which allows simple and highly efficient data exchange between the modules. It allows monitoring of the internal system state and easy logging, thus(More)
Social robots working in public space often stimulate children's curiosity. However, sometimes children also show abusive behavior toward robots. In our case studies, we observed in many cases that children persistently obstruct the robot's activity. Some actually abused the robot by saying bad things, and at times even kicking or punching the robot. We(More)
A robot working among pedestrians can attract crowds of people around it, and consequentially become a bothersome entity causing congestion in narrow spaces. To address this problem, our idea is to endow the robot with capability to understand humans' crowding phenomena. The proposed mechanism consists of three underlying models: a model of pedestrian flow,(More)
This paper deals with the problem of object tracking and environment mapping inside a space with distributed sensors - intelligent space. In a conventional approach the distributed sensors are used for these tasks, however since the sensors are static this has several disadvantages. In this paper in addition to static sensors we introduce the use of a(More)
The use of 3D range sensors for human position tracking has grown in recent years, especially for augmenting robotic sensing for human-robot interaction. However, extrinsic calibration of the relative positions of 3D range sensors is difficult, due to their limited range, narrow field of view, and distortion at large distances. 2D laser range finders have(More)