| 1. |
- Hedström, Andreas, et al.
(författare)
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A wearable GUI for field robots
- 2006
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Ingår i: Field and Service Robotics. - BERLIN : SPRINGER-VERLAG BERLIN. - 3540334521 ; , s. 367-376
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Konferensbidrag (refereegranskat)abstract
- In most search and rescue or reconnaissance missions involving field robots the requirements of the operator being mobile and alert to sudden changes in the near environment, are just as important as the ability to control the robot proficiently. This implies that the GUI platform should be light-weight and portable, and that the GUI itself is carefully designed for the task at hand. In this paper different platform solutions and design of a user-friendly GUI for a packbot will be discussed. Our current wearable system will be presented along with some results from initial field tests in urban search and rescue facilities.
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| 2. |
- Hellström, Thomas, et al.
(författare)
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Development of an Autonomous Forest Machine for Path Tracking
- 2006
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Ingår i: Field and Service Robotics. - New York : Springer. - 3540334521 ; , s. 603-614
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Konferensbidrag (refereegranskat)abstract
- In many respects traditional automation in the forest-machine industry hasreached an upper limit, since the driver already has to deal with an excess ofinformation and take too many decisions at a very high pace. To furtherautomation still, introduction of semi-autonomous and autonomous functions areexpected and considered necessary. This paper describes an ongoing projectalong these ideas. We describe the development of the hardware and software ofan unmanned shuttle that shifts timber from the area of felling to the mainroads for further transportation. A new path-tracking algorithm is introduced,and demonstrated as being superior to standard techniques, such as Follow theCarrot and Pure Pursuit. To facilitate the research and development, acomprehensive software architecture for sensor and actuator interfacing isdeveloped. Obstacle avoidance is accomplished by a new kind of radar,developed for and by the automotive industry. Localization is accomplished by combining data from a Real-Time Kinematic DifferentialGPS/GLONASS and odometry. Tests conducted on a simulator and asmall-scale robot show promising results. Tests on the real forest machine areongoing.
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| 3. |
- Jensfelt, Patric, et al.
(författare)
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A system for automatic marking of floors in very large spaces
- 2006
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Ingår i: Field and Service Robotics. - SPRINGER-VERLAG BERLIN : BERLIN. - 3540334521 ; , s. 93-104
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Konferensbidrag (refereegranskat)abstract
- This paper describes a system for automatic marking of floors. Such systems can be used for example when marking the positions of stands for a trade fair or exhibition. Achieving a high enough accuracy in such an environment, characterized by very large open spaces, is a major challenge. Environmental features will be much further away then in most other indoor applications and even many outdoor applications. A SICK LMS 291 laser scanner is used for localization purposes. Experiments show that many of the problems that are typically associated with the large beam width of ultra sonic sensors in normal indoor environments manifest themselves here for the laser because of the long range. The system that is presented has been in operation for almost two years to date and has been used for every exhibition in the three main exhibition halls at the Stockholm International Fair since then. The system has speeded up the marking process significantly. For example, what used to be a job for two men over eight hours now takes one robot monitored by one man four hours to complete.
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| 4. |
- Pacchierotti, Elena, et al.
(författare)
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Embodied social interaction for service robots in hallway environments
- 2006
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Ingår i: Field and Service Robotics. - BERLIN : SPRINGER-VERLAG BERLIN. - 3540334521 ; , s. 293-304
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Konferensbidrag (refereegranskat)abstract
- A key aspect of service robotics for everyday use is the motion in close proximity to humans. It is essential that the robot exhibits a behavior that signals safety of motion and awareness of the persons in the environment. To achieve this, there is a need to define control strategies that are perceived as socially acceptable by users that are not familiar with robots. In this paper a system for navigation in a hallway is presented, in which the rules of proxemics are used to define the interaction strategies. The experimental results show the contribution to the establishment of effective spatial interaction patterns between the robot and a person.
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