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Robox, a Remarkable Mobile Robot for the Kai O. Arras, Nicola Tomatis, Roland Siegwart
 

Summary: Robox, a Remarkable Mobile Robot for the
Real World
Kai O. Arras, Nicola Tomatis, Roland Siegwart
Autonomous Systems Lab
Swiss Federal Institute of Technology Lausanne (EPFL)
CH-1015 Lausanne, Switzerland
Abstract. In this paper we present Robox, a mobile robot designed for au-
tonomous operation in a mass exhibition environment. Robox has unique multi-
modal interaction capabilities and a novel approach to localization using multiple
Gaussian hypotheses. What makes Robox one of a kind is on the one hand its de-
sign and the variety of functionalities united in one platform and on the other hand
the scale of the Expo.02 project where Robox has been deployed.
Here, we adopt an experimental view of the task. After the problem specifica-
tion of mass exhibitions, we outline system integration aspects: mechanical design,
safety, software and hardware architecture and interaction modalities. Finally, seen
as an enabling technology for robots in exhibitions, we present the localization
approach in more detail.
Building on former experience with feature-based Kalman filter localization
we address the data association problem whose neglect was found to be the pre-
dominant reason for localization failures. Multiple hypotheses are generated by a

  

Source: Arras, Kai O. - Institut für Informatik, Albert-Ludwigs-Universität Freiburg

 

Collections: Computer Technologies and Information Sciences