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Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…
We are concerned with the inverse problem of identifying magnetic anomalies with varing parameters beneath the Earth using geomagnetic monitoring. Observations of the change in Earth's magnetic field--the secular variation--provide…
This paper describes the development of a cost-effective yet precise indoor robot navigation system composed of a custom robot controller board and an indoor positioning system. First, the proposed robot controller board has been specially…
The public transports provide an ideal means to enable contagious diseases transmission. This paper introduces a novel idea to detect co-location of people in such environment using just the ubiquitous geomagnetic field sensor on the smart…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
We implemented a system able to locate people indoor, with the purpose of providing assistive services. Such approach is particularly important for the Art, for providing information on exhibitions, art galleries and museums, and to allow…
Domestic service robots such as lawn mowing and vacuum cleaning robots are the most numerous consumer robots in existence today. While early versions employed random exploration, recent systems fielded by most of the major manufacturers…
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…
Multi-robot patrolling represents a fundamental problem for many monitoring and surveillance applications and has gained significant interest in recent years. In patrolling, mobile robots repeatedly travel through an environment, capture…
We propose a novel external indoor positioning system that computes the position and orientation of multiple model-scale vehicles. For this purpose, we use a camera mounted at a height of 3.3m and LEDs attached to each vehicle. We reach an…
Motivated by the vision of integrating mobile robots closer to humans in warehouses, hospitals, manufacturing plants, and the home, we focus on robot navigation in dynamic and spatially constrained environments. Ensuring human safety,…
Current progresses in home automation and service robotic environment have highlighted the need to develop interoperability mechanisms that allow a standard communication between the two systems. During the development of the DHCompliant…
We present a method for scalable and fully 3D magnetic field simultaneous localisation and mapping (SLAM) using local anomalies in the magnetic field as a source of position information. These anomalies are due to the presence of…
Time-based indoor positioning techniques rely on multiple access points (APs) and measurements between the user equipment (UE) and the APs. In dense indoor environments, occlusion-induced non-line-of-sight (NLoS) propagation introduces…
We develop a system which generates summaries from seniors' indoor-activity videos captured by a social robot to help remote family members know their seniors' daily activities at home. Unlike the traditional video summarization datasets,…
The localization speed and accuracy in the indoor scenario can greatly impact the Quality of Experience of the user. While many individual machine learning models can achieve comparable positioning performance, their prediction mechanisms…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
Place recognition is a critical component in robot navigation that enables it to re-establish previously visited locations, and simultaneously use this information to correct the drift incurred in its dead-reckoned estimate. In this work,…
Although haptic sensing has recently been used for legged robot localization in extreme environments where a camera or LiDAR might fail, the problem of efficiently representing the haptic signatures in a learned prior map is still open.…
Patterns of human motion in outdoor and indoor environments are substantially different due to the scope of the environment and the typical intentions of people therein. While outdoor trajectory forecasting has received significant…