The need for robust indoor localisation for all types of entities has been under continuous research by the ubiquitous community. Intelligent environments have to be supported with contextual information in order to facilitate intelligent behaviour. These contextual information include the location of humans and objects within the particular environment. Intelligent environments can be living areas with home automation, smart industrial plants, sensorequipped office areas and indoor-emergency applications. So far technical solutions are either quite expensive or lack of precision for robust usage as components in intelligent service federations. We present rather low-cost localisation systems with great scalability based on active and passive RFID technology to locate humans, mobile service robots and objects of the daily use. The trade-off between technical effort and costs on the one hand and sufficient data accuracy for the application on the other hand is discussed. A motivation of our scenario, the technical concept and solution as well as the implementation and the integration that so far have been performed will be presented. Current prototypes of the proposed system are already being tested in a project aiming on development of smart assisted living environments.
Robust navigation in living environments demands high requirements on the control system of a robot. Due to typically narrow passages between obstacles, precise navigation is required. To achieve accuracy in navigation, detailed representation of the environment around the robot needs to be developed. Robust and precise mapping of the environment helps in overcoming the dynamics in the living environment like movement of furniture and human beings. Prompt recovery from unreachable paths while navigating is also an essential component of the living environment robots. This paper describes a behaviour-based navigation system in assisted living environments. The navigation system uses a grid map created from data obtained from laser scanner and ultrasonic sensors mounted on a small sized robot, ARTOS. ARTOS is specially designed for indoor living environments able to navigate through narrow corridors and closely placed furniture in the living environment.
Abstract-This paper presents a robust kalman-based localization for outdoor vehicles. Outdoor vehicles require a faulttolerant system that can manage temporary unavailable sensor measurements. The sensor system of the vehicle consists of odometry, inertial measurement unit (IMU) and differential global positioning system (DGPS) receiver. The system allows full 3D localization including position, attitude and velocities. Final experiments showed the localization and navigation capabilities of the outdoor robot RAVON.
Abstract-Developers and end-users have to interface robotic systems for control and feedback. Such systems are typically co-engineered with their graphical user interfaces. In the past, a vast community of researchers has addressed issues of generality, deployment, usability, and re-usability of user interfaces. However, the support for creating graphical user interfaces in recent robotic frameworks is limited. In particular, there is typically no support for web-based teleoperation. In this work, we propose a new Java-based editor with a plugin architecture for GUI elements and communication ports. Special focus is laid on platform-independent design, easy extensibility, connectivity to different robotic frameworks, usability and deployment. The tool offers convenient creation of graphical user interfaces and can publish them over the web -making them accessible from any Java-enabled web browser. I. MOTIVATIONDevelopers and operators of technical systems need convenient access to control interfaces and state information. In the case of -but not limited to -mobile robotic systems, this interfacing software is deployed on external networked computers or mobile devices that carry the respective graphical user interface (GUI). Usually, during development a GUI is subject to multiple changes due to ongoing feature integration and debugging. Also, different human operators show different preferences in GUI design. This leads to the demand for editor tools capable of conveniently creating and editing GUIs. If well-designed, the GUI is free of system logic and is a separate component from the system to be controlled. Developers of robotic frameworks have already spent varying amounts of effort to provide such tooling. However, these tools are specifically designed to work with their respective frameworks and have limitations regarding flexibility and deployment. In section I-A, we discuss the capabilities of recent robotic development frameworks regarding these aspects.In this work, we propose a new Java-based GUI tool addressing the following areas:• editor for graphical user interfaces • independence from specific (robotic) applications and frameworks • extensible plugin architecture • web-based GUI deployment • robust handling of fluctuating connection link quality
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