Knowledge-sharing techniques for Egocentric Navigation

Date

2003-10-08

Author

KESKİNPALA, Türker
Koku, Ahmet Buğra
WİLKES, D Mitch
KAWAMURA, kazuhiko

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

192
views

0
downloads

Teams of humans and robots working together can provide effective solutions to problems. In such applications, effective human-robot teaming relies on being able to communicate information about the current perception or understanding of the environment. In this paper, human-robot teaming on navigational tasks is discussed The role of the human user will be to specify the goal point(s) for the robot, and also to interact with the robot in the event of perceptual errors. A novel navigation method, Egocentric Navigation (ENav), has been developed based on egocentric representations. In this paper, two knowledge sharing methods are described which exploit the characteristics of ENav. In the first method, robots share Landmark EgoSpheres, and in the second method the robot shares it Sensory EgoSphere with the human user for visual perception correction.

Subject Keywords

Human-robot teaming, Egocentric navigation, Sensory egosphere, Landmark egosphere

URI

https://hdl.handle.net/11511/48517

DOI

https://doi.org/10.1109/icsmc.2003.1244254

Collections

Department of Mechanical Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Design of a low-costs warm robotic system for flocking Demir, Çağrı Ata; Turgut, Ali Emre; Department of Mechanical Engineering (2019) Swarm robotics is an approach to the coordination of large numbers of robots. The main motivation of this thesis is to study a robotic system designed to do flocking both indoors and outdoors. A walking robot is designed parallel to this purpose. In the first part of thesis, a leg is designed to minimize the displacement of center of mass of robot in vertical axis to eliminate mechanical noise. Mechanism analysis and Matlab optimization tools are utilized in this process. Then, electronic components of robo...
Human aware navigation of a mobile robot in crowded dynamic environments Hacınecipoğlu, Akif; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2019) As mobile robots start operating in dynamic environments crowded with humans, human-aware and human-like navigation is required to make these robots navigate safely, efficiently and in socially compliant manner. People can navigate in an interactive and cooperative fashion so that, they are able to find their path to a destination even if there is no clear path leading to it. This is clearly a dexterity of humans. But the mobile robots which have to navigate in such environments lack this feature. Even perf...
Alet (automated labeling of equipment and tools): A dataset for tool detection and human worker safety detection Kurnaz, Fatih Can; Şahin, Erol; Kalkan, Sinan; Department of Computer Engineering (2020-8) For humans and robots to be able to collaborate in different tasks in the same real-life environments, robots need to be able to work with tools. This requires that they can recognize the tools, and identify their positions and orientations so that they can use them for their goals. However, neither robotics nor the computer vision community had a dataset to facilitate addressing these problems in real-life environments. In this study, we address these challenges and provide a dataset dedicated to detecting...
Cooperative Pollution Source Exploration and Cleanup with a Bio-inspired Swarm Robot Aggregation Sadeghi Amjadi, Arash; Raoufi, Mohsen; Turgut, Ali Emre; Broughton, George; Krajník, Tomáš; Arvin, Farshad (2021-01-01) Using robots for exploration of extreme and hazardous environments has the potential to significantly improve human safety. For example, robotic solutions can be deployed to find the source of a chemical leakage and clean the contaminated area. This paper demonstrates a proof-of-concept bio-inspired exploration method using a swarm robotic system based on a combination of two bio-inspired behaviors: aggregation, and pheromone tracking. The main idea of the work presented is to follow pheromone trails to fin...
Designing Social Cues for Collaborative Robots: The Role of Gaze and Breathing in Human-Robot Collaboration Terzioglu, Yunus; Mutlu, Bilge; Şahin, Erol (2020-01-01) In this paper, we investigate how collaborative robots, or cobots, typically composed of a robotic arm and a gripper carrying out manipulation tasks alongside human coworkers, can be enhanced with HRI capabilities by applying ideas and principles from character animation. To this end, we modified the appearance and behaviors of a cobot, with minimal impact on its functionality and performance, and studied the extent to which these modifications improved its communication with and perceptions by human collab...

Citation Formats

T. KESKİNPALA, A. B. Koku, D. M. WİLKES, and k. KAWAMURA, “Knowledge-sharing techniques for Egocentric Navigation,” 2003, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/48517.