An Experiment on Squad Navigation of Human and Robots

NOMDEDEU, L., SALES, J., CERVERA, E., ALEMANY, J., SEBASTIA, R., PENDERS, Jacques and GAZI, V. (2008). An Experiment on Squad Navigation of Human and Robots. In: 10TH INTERNATIONAL CONFERENCE ON CONTROL AUTOMATION ROBOTICS & VISION: ICARV 2008, Hanoi, Vietnam, Dec 17-20, 2008. 1212-1218.

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Abstract

Mobile robots are nowadays capable of navigating in a semi-structured environment, either alone or in formations. Dealing with mobile obstacles, e.g. persons, in everyday environments poses additional challenges which are being addressed by the research community. This paper presents an experiment with a set of robots -acting as a swarm- and one person. The aim of such robot-human squad is to explore an unmapped area indoors. The swarm is programmed such that obstacle avoidance, robot avoidance and human avoidance is combined with staying in the vicinity of the human and gradually proceeding towards the end point. The robots are provided with enough sensors to perform avoidance, and determine/estimate the distance to the human. Communication is one-way only, from robots to human. The aim of the experiment is to provide insights about the real problems of the multirobot system when dealing with a non-expert person in a cooperative exploration task.

Item Type: Conference or Workshop Item (Paper)
Additional Information: 10th International Conference on Control, Automation, Robotics and Vision, DEC 17-20, 2008 Hannoi, VIETNAM
Research Institute, Centre or Group: Materials and Engineering Research Institute > Centre for Robotics and Automation > Mobile Machine and Vision Laboratory
Depositing User: Danny Weston
Date Deposited: 30 Mar 2010 12:02
Last Modified: 14 Jul 2010 16:57
URI: http://shura.shu.ac.uk/id/eprint/1377

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