The division of floor plans or navigation maps into single rooms or similarly meaningful semantic units is central to numerous tasks in robotics such as topological mapping, semantic mapping, place categorization, human-robot interaction, or automatized professional cleaning. Although many map partitioning algorithms have been proposed for various applications there is a lack of comparative studies on these different algorithms. This paper surveys the literature on room segmentation and provides four publicly available implementations of popular methods, which target the semantic mapping domain and are tuned to yield segmentations into complete rooms. In an attempt to provide new users of such technologies guidance in the choice of map segmentation algorithm, those methods are compared qualitatively and quantitatively using several criteria. The evaluation is based on a novel compilation of 20 challenging floor plans
The development of a mobile robot to assist people in their home is a long term goal of Fraunhofer IPA. In order to meet this goal, three generations of a robotic home assistant "Care-O-bot ®" have been developed so far. As a vision of a future household product, Care-O-bot ® 3 is equipped with the latest industrial state-of-the art hardware components. It offers all modern multimedia and interaction equipment as well as most advanced sensors and control. It is able to navigate among humans, detect and grasp objects and pass them safely to human users using its tray. Care-O-bot ® 3 has been presented to the public on several occasions where it distributed drinks to the visitors of trade fairs and events.
In this contribution we present a robot assistant consisting of a mobile platform and a manipulator to support manual workplaces in production environments. We propose a general definition of robot assistants. Two applications for the robot assistant rob@work are described - the assembly of hydraulic pumps and the assistance of manual gas metal arc welding (GMAW). A description of the hardware and software architecture, the man-machine-interface, the task-planner and the path-planning of the robot assistant is given
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