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Title: An Experiment on Squad Navigation of Human and Robots
Authors: Numanoğlu, Tolga
Sales, J.
Cervera, E.
Alemany, J.
Sebastia, R.
Penders, J.
Gazi, V.
Keywords: cooperative robots
human robot interaction
search and rescue
Issue Date: 2008
Publisher: IEEE
Source: 10th International Conference on Control, Automation, Robotics and Vision -- DEC 17-20, 2008 -- Hanoi, VIETNAM
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.
ISBN: 978-1-4244-2286-9
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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