Luis Yoichi Morales Saiki

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Walking side by side is a common situation when we go from one place to another with another person while talking. Our previous study reported a basic mechanism for side-by-side walking, but in the previous model it was crucial that each agent knew where he or she was going, i.e. the route to the destination. However, we have recognized the need to model(More)
This paper presents a multi-modal sensor approach for mapping sound sources using an omni-directional microphone array on an autonomous mobile robot. A fusion of audio data (from the microphone array), odometry information and the laser range scan data (from the robot) was used to precisely localize and map the audio sources in an environment. An audio map(More)
This paper presents an approach for vehicle 3D localization in outdoor woodland environments using a loosely coupled multisensor system. The vehicle 3D dead reckoning is computed using a wheel encoder and an IMU. Dead reckoning is corrected from three different sources: a)Using a tilted lidar for road detection and computation of the vehicle position within(More)
This paper describes an implementation of a mobile robot system for autonomous navigation in outdoor concurred walkways. The task was to navigate through non-modified pedestrian paths with people and bicycles passing by. The robot has multiple redundant sensors which include wheel encoders, an IMU, a DGPS and four laser scanner sensors. All the computation(More)
This paper presents a computational model for side-by-side walking for human-robot interaction (HRI). In this work we address the importance of future motion utility (motion anticipation) of the two walking partners. Previous studies only considered a robot moving alongside a person without collisions with simple velocity-based predictions. In contrast,(More)
Reliable autonomous navigation is an active research topic that has drawn the attention for decades, however, human factors such as navigational comfort has not received the same level of attention. This work proposes the concept of “comfortable map” and presents a navigation approach for autonomous passenger vehicles which in top of being(More)
This paper describes a 2D localization method for a differential drive mobile vehicle on real forested paths. The mobile vehicle is equipped with two rotary encoders, Crossbow's NAV420CA inertial measurement unit (IMU) and a NAVCOM SF-2050M GPS receiver (used in StarFire-DGPS dual mode). Loosely-coupled multisensor fusion and sensor fault detection issues(More)
In this paper we present a systematic study of the performance of seven different configurations of GPS on a moving vehicle using three different GPS receivers. The seven different configurations are 1) single frequency code differential DGPS, 2) double frequency code differential DGPS, 3) RTK-GPS receiving RTCM correction from a mobile phone, 4) RTK-GPS(More)
The noninvasive brain-machine interface (BMI) is anticipated to be an effective tool of communication not only in laboratory settings but also in our daily livings. The direct communication channel created by BMI can assist aging societies and the handicapped and improve human welfare. In this paper we propose and experiment a BMI framework that combines(More)
This paper presents and describes the approach for achieving long distance autonomous navigation with a mobile robot on outdoor cluttered pedestrian paths. The task was to finish an event launched by the City of Tsukuba in Japan, called ldquoReal World Robot Challengerdquo, of navigating 1km autonomously in a real environment with real pedestrians and(More)