GidaBot: a system of heterogeneous robots collaborating as guides in multi-floor environments

Parra, O.; Rodriguez, Igor; Jauregi, E.; Lazkano, Elena; Ruiz, Txelo

doi:10.1007/s11370-019-00285-8

Cited by 5 publications

(6 citation statements)

References 13 publications

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“…Parra et al [13] proposed an alternative approach to the previous robot-human communication. Robots communicate with robots in GidaBot, without any centralized server that controls the multi-robot system.…”

Section: Tour Guide Robotsmentioning

confidence: 99%

“…Although several platforms are needed, robot navigation is more secure (robot paths do not collide), and several tours can be run concurrently. In this way, the lift remains available for people involved or not in the guided tour and for people with reduced mobility [13].…”

Section: Tour Guide Robotsmentioning

confidence: 99%

“…This section attempts to give a general overview of GidaBot, the multi-robot distributed guide system designed to share navigation tasks in multi-floor environments. For further details, readers should refer to [13]. In short, GidaBot allows two operation modes: single target mode and tour mode (which relies on the latter).…”

Section: Gidabot Tour Guide System Descriptionmentioning

confidence: 99%

“…In [13], a heterogeneous robot navigation system was presented, called GidaBot, that relied on robot communication to fulfill guiding tasks cooperatively on different floors. Besides being fully distributed, the peculiarity of the system was that robots were restricted to navigate only on one floor, and multi-robot communication and cooperation were used to give tours of multiple locations on different floors.…”

Section: Introductionmentioning

confidence: 99%

“…Some extra information is also displayed in the Information tab like robot velocity and battery level. Again, the reader is referred to [13] for more precise information. GidaBot's graphical interface has been designed to offer the user:…”

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confidence: 99%

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Personal Guides: Heterogeneous Robots Sharing Personal Tours in Multi-Floor Environments

Rodriguez

Zabala

Marín-Reyes

et al. 2020

Sensors

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GidaBot is an application designed to setup and run a heterogeneous team of robots to act as tour guides in multi-floor buildings. Although the tours can go through several floors, the robots can only service a single floor, and thus, a guiding task may require collaboration among several robots. The designed system makes use of a robust inter-robot communication strategy to share goals and paths during the guiding tasks. Such tours work as personal services carried out by one or more robots. In this paper, a face re-identification/verification module based on state-of-the-art techniques is developed, evaluated offline, and integrated into GidaBot’s real daily activities, to avoid new visitors interfering with those attended. It is a complex problem because, as users are casual visitors, no long-term information is stored, and consequently, faces are unknown in the training step. Initially, re-identification and verification are evaluated offline considering different face detectors and computing distances in a face embedding representation. To fulfil the goal online, several face detectors are fused in parallel to avoid face alignment bias produced by face detectors under certain circumstances, and the decision is made based on a minimum distance criterion. This fused approach outperforms any individual method and highly improves the real system’s reliability, as the tests carried out using real robots at the Faculty of Informatics in San Sebastian show.

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Section: Tour Guide Robotsmentioning

confidence: 99%

Section: Tour Guide Robotsmentioning

confidence: 99%

Section: Gidabot Tour Guide System Descriptionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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confidence: 99%

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