Sketch-based navigation for mobile robots

Chronis, G.; Skubic, Marjorie

doi:10.1109/fuzz.2003.1209376

Cited by 25 publications

(22 citation statements)

References 8 publications

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“…The work in [28,29,30] is based on [27]. The authors present a strategy for extracting qualitative route information from a sketched route map and then they show how this information can be used for robot navigation along the sketched path.…”

Section: Othersmentioning

confidence: 99%

“…A sequential compilation of steps is being generated as they are encountered along the sketched path. They also did experiments on a robot simulator in [28]. Frist, a path is drawn on a hand-drawn map.…”

Section: Othersmentioning

confidence: 99%

“…Based on [28], the authors increased accuracy when searching the match of the compilation of steps in [31]. They added an adjustable threshold, landmark distance to the qualitative landmark states (QLS) conditions to provide better confidence.…”

Section: Othersmentioning

confidence: 99%

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Extended LTLvis motion planning interface

Wei¹,

Kim²,

Fainekos³

2016

2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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Robots are becoming an important part of our life and industry. Although a lot of robot control interfaces have been developed to simplify the control method and improve user experience, users still cannot control robots comfortably. With the improvements of the robot functions, the requirements of universality and ease of use of robot control interfaces are also increasing. This research introduces a graphical interface for Linear Temporal Logic (LTL) specifications for mobile robots. It is a sketch based interface built on the Android platform which makes the LTL control interface more friendly to nonexpert users. By predefining a set of areas of interest, this interface can quickly and efficiently create plans that satisfy extended plan goals in LTL. The interface can also allow users to customize the paths for this plan by sketching a set of reference trajectories. Given the custom paths by the user, the LTL specification and the environment, the interface generates a plan balancing the customized paths and the LTL specifications. We also show experimental results with the implemented interface.ii ACKNOWLEDGEMENTS

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Section: Othersmentioning

confidence: 99%

Section: Othersmentioning

confidence: 99%

See 1 more Smart Citation

Extended LTLvis motion planning interface

Wei¹,

Kim²,

Fainekos³

2016

2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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“…There are some limitations in their work, such as sensing more than two various objects simultaneously, sensing an object in the target description when it is not actually there, being easily confused if duplicates of objects that are in the target region are perceived, and failing in dynamic environments. Chronics and Skubic et al performed a number of studies on navigation with sonar sensors based on a sketched map [15][16][17]. There are also certain limitations in their works, such as a high occurrence of mismatch because of the low resolution of the sonar sensors, etc.…”

Section: Introductionmentioning

confidence: 99%

A Visual Navigation Method of Mobile Robot Using a Sketched Semantic Map

Zhang

Zhu

et al. 2012

International Journal of Advanced Robotic Systems

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A new visual navigation method for a mobile robot is proposed in this paper. Its originality lies in integrating a sketched map with a semantic map together for the robot's navigation and in using unified tags to help recognize landmarks. In this sketched semantic map, the outline and semantic information of key referenced objects are used to represent themselves and a rough route for the robot's navigation is also sketched. Over the course of robot navigation along the route, and in order to easily recognize the referenced objects from the complex background, a kind of unified label is designed and pasted on the potential referenced objects in advance. A recognition method based on the Pseudo-Zernike Moment and the Normalized Moment of Inertia is used to compute the matching degree between the real-time image of the referenced object and its similar outline in a database. In addition, the odometer information is also fused so as to roughly localize the robot. Finally, through a series of experiments, the advantage and efficiency of the new navigation method with real-time dynamic obstacle avoidance are testified with the help of the imprecise real map and route.

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“…In previous work, we have presented strategies for extracting a sequence of navigation states from a sketched route map [9], translating the sketched route to a linguistic description [IO], and using the sequence of states for robot navigation [2]. In this paper, the sketching interface is extended to be more interactive.…”

Section: Introductionmentioning

confidence: 96%

A sketch interface for mobile robots

Skubic

Bailey

Chronis

SMC'03 Conference Proceedings. 2003 IEEE International Conference on Systems, Man and Cybernetics. Conference Theme - System Se

Self Cite

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In human-to-human communication, a handdrawn route map is often sketched to show R desired navigation path. In this paper, we describe R PDA sketching interface that can be used to direct a mobile robot along a specified path. Because sketched route maps are not drown precisely or necessarily to scale, we do not attempt to analyze precise path information, but rather qualitative route information is extracted The paper focuses on the front-end sketch understanding and includes R description of the interactive features, such as deleting, moving, and labeling landmarks. Results of R user evaluation are also presented, in which participants report that the sketching interface was as easy as using pencil andpaper by R 2:1 margin.

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Sketch-based navigation for mobile robots

Cited by 25 publications

References 8 publications

Extended LTLvis motion planning interface

Extended LTLvis motion planning interface

A Visual Navigation Method of Mobile Robot Using a Sketched Semantic Map

A sketch interface for mobile robots

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