Speed Maps: An Application to Guide Robots in Human Environments

  title={Speed Maps: An Application to Guide Robots in Human Environments},
  author={Akansel Cosgun},
We present the concept of speed maps: speed limits for mobile robots in human environments. Static speed maps allow for faster navigation on corridors while limiting the speed around corners and in rooms. Dynamic speed maps put limits on speed around humans. We demonstrate the concept for a mobile robot that guides people to annotated landmarks on the map. The robot keeps a metric map for navigation and a semantic map to hold planar surfaces for tasking. The system supports automatic… 



Guidance for human navigation using a vibro-tactile belt interface and robot-like motion planning

A navigation guidance system that guides a human to a goal point with a tactile belt interface and a stationary laser scanner and the human control system as a whole is successfully demonstrated in a navigation guidance scenario.

Anticipatory robot path planning in human environments

This work is based on extracting a static plan using A* search on the grid map by minimizing safety, disturbance and path length costs and then refining it by simulating humans' reaction using the Social Force Model and demonstrates that robots can exhibit social behaviors that is not possible to model with standard approaches.

Seeing Thru Walls: Visualizing Mobile Robots in Augmented Reality

This work presents an approach for visualizing mobile robots through an Augmented Reality headset when there is no line-of-sight visibility between the robot and the human, and shows that visualizations improved the perceived safety and efficiency of the task and led to participants being more comfortable with the robot within their personal spaces.

Mobile human-robot teaming with environmental tolerance

We demonstrate that structured light-based depth sensing with standard perception algorithms can enable mobile peer-to-peer interaction between humans and robots. We posit that the use of recent

Navigating in populated environments by following a leader

This work proposes to rely on humans to guide the robot through difficult situations, where modern approaches would fail to find a solution, by a probabilistic approach for selecting a human leader, according to the robot's desired destination.

MINERVA: a second-generation museum tour-guide robot

  • S. ThrunMaren Bennewitz D. Schulz
  • Computer Science
    Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
  • 1999
An interactive tour-guide robot is described, which was successfully exhibited in a Smithsonian museum, and uses learning pervasively at all levels of the software architecture to address issues such as safe navigation in unmodified and dynamic environments, and short-term human-robot interaction.

Robot human-following limited speed control

This paper introduces a control method which uses adaptive acceleration of robots speed which is adaptive to the distance between human and robots.

Multisensor-Based Human Detection and Tracking for Mobile Service Robots

  • N. BellottoHuosheng Hu
  • Computer Science
    IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)
  • 2009
A solution for human tracking with a mobile robot that implements multisensor data fusion techniques based on the recognition of typical leg patterns extracted from laser scans, showing that robust human tracking can be performed within complex indoor environments.

Towards a humanoid museum guide robot that interacts with multiple persons

A robotic system that makes use of visual perception, sound source localization, and speech recognition to detect, track, and involve multiple persons into interaction.