| 1. |
- Buschka, Pär, et al.
(författare)
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A virtual sensor for room detection
- 2002
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Ingår i: Proceedings of the IEEE/RSJ international conference on intelligent robots and systems. - 0780373987 ; , s. 637-642
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Konferensbidrag (refereegranskat)abstract
- Indoor environments typically consist of sets of connected room-like spaces. We present a local technique that uses range data to detect these spaces during navigation. Our technique includes two parts: segmentation, which isolates room-like spaces and detects when the robot has entered a new one; and feature extraction, which associates each space with a set of geometric features useful for navigation or recognition. Many such features can be considered: here we propose a new method to compute width and length of a rectangular room in a way which is largely invariant with respect to the configuration of the furniture. We report experimental results that show the performance of our technique, and hint at a possible use of this technique for coarse localization on a topological map
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| 2. |
- Buschka, Pär, 1966-
(författare)
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An investigation of hybrid maps for mobile robots
- 2005
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Autonomous robots typically rely on internal representations of the environment, or maps, to plan and execute their tasks. Several types of maps have been proposed in the literature, and there is general consensus that different types have different advantages and limitations, and that each type is more suited to certain tasks and less to others. Because of these reasons, it is becoming common wisdom in the field of mobile robotics to use hybrid maps that integrate several representations, usually of different types. Hybrid maps provide scalability and multiple views, allowing for instance to combine robot-centered and human-centered representations. There is, however, little understanding of the general principles that can be used to combine different maps into a hybrid one, and to make it something more than the sum of its parts. There is no systematic analysis of the different ways in which different maps can be combined, and how they can be made to cooperate. This makes it difficult to evaluate and compare different systems, and precludes us from getting a clear understanding of how a hybrid map can be designed or improved. The investigation presented in this thesis aims to contribute to fill this foundational gap, and to get a clearer understanding of the nature of hybrid maps. To help in this investigation, we develop two tools: The first one is a conceptual tool, an analytical framework in which the main ingredients of a hybrid map are described; the second one is an empirical tool, a new hybrid map that allows us to experimentally verify our claims and hypotheses. While these tools are themselves important contributions of this thesis, our investigation has resulted in the following additional outcomes: • A set of concepts that allow us to better understand the structure and operation of hybrid maps, and that help us to design them, compare them, identify their problems, and possibly improve them; • The identification of the notion of synergy as the fundamental way in which component maps inside a hybrid map cooperate. To assess the significance of these outcomes, we make and validate the following claims: 1. Our framework allows us to classify and describe existing maps in a uniform way. This claim is validated constructively by making a thorough classification of the hybrid maps reported in the literature. 2. Our framework also allows us to enhance an existing hybrid map by identifying spots for improvement. This claim is verified experimentally by modifying an existing map and evaluating its performance against the original one. 3. The notion of synergy plays an important role in hybrid maps. This claim is verified experimentally by testing the performance of a hybrid map with and without synergy.
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| 3. |
- Buschka, Pär, et al.
(författare)
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Fuzzy landmark-based localization for a legged robot
- 2000
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Ingår i: Proceedings, 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems. - 0780363485 ; , s. 1205-1210
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Konferensbidrag (refereegranskat)abstract
- We describe a new technique for landmark-based self-localization which is suitable for robots with poor odometry. This technique uses fuzzy logic to account for errors and imprecision in visual recognition, and for extreme uncertainty in the estimate of the robot's motion. It only requires an approximate model of the sensor system and a qualitative estimate of the robot's displacement, and it has a moderate computational cost. We show examples of use of our technique on a Sony AIBO legged robot in the RoboCup domain.
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| 4. |
- Buschka, Pär, et al.
(författare)
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Room detection for topology-based map building
- 2002
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Ingår i: Proceedings of the 2nd Swedish workshop on autonomous robots. ; , s. 39-44
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Konferensbidrag (populärvet., debatt m.m.)abstract
- Indoor environments typically consist of sets of connected room-like spaces. We present a local technique that uses range data to detect these spaces during navigation. This is done by a segmentation which isolates room-like spaces and detects when the robot has entered a new one. These spaces can be seen as nodes in a topological map and we show how to incrementally build such a map. We also report experimental results that show the performance of our technique
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| 5. |
- Buschka, Pär, et al.
(författare)
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Some notes on the use of hybrid maps for mobile robots
- 2004
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Ingår i: Proceedings of the 8th international conference on intelligent autonomous systems. ; , s. 547-556
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Konferensbidrag (refereegranskat)abstract
- Hybrid maps are quickly becoming popular in the field of mobile robotics. There is, however, little understanding of the general principles that can be used to combine different maps into a hybrid one, and to make these maps to cooperate. In this note, we propose a definition and a classification of hybrid maps, and discuss the synergies that can make a hybrid map something more than the sum of its parts. We illustrate these points with experimental results obtained on a metric-topological map.
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| 6. |
- Galindo, Cipriano, et al.
(författare)
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Multi-hierarchical semantic maps for mobile robotics
- 2005
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Ingår i: 2005 IEEE/RSJ international conference on intelligent robots and systems (IROS 2005). - 0780389123 ; , s. 2278-2283
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- The success of mobile robots, and particularly of those interfacing with humans in daily environments (e.g., assistant robots), relies on the ability to manipulate information beyond simple spatial relations. We are interested in semantic information, which gives meaning to spatial information like images or geometric maps. We present a multi-hierarchical approach to enable a mobile robot to acquire semantic information from its sensors, and to use it for navigation tasks. In our approach, the link between spatial and semantic information is established via anchoring. We show experiments on a real mobile robot that demonstrate its ability to use and infer new semantic information from its environment, improving its operation.
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