The Office Marathon: Robust navigation in an indoor office environment

Marder-Eppstein, Eitan; Berger, Eric; Foote, Tully; Gerkey, Brian; Konolige, Kurt

doi:10.1109/robot.2010.5509725

Cited by 448 publications

(258 citation statements)

References 10 publications

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“…The other where some form of human input has been injected into a system to achieve a high level of robustness in human environments. Researchers at Bosch [10] and Willow Garage [11] have also argued for human intervention in robotic systems for long term autonomy, but the level of human intervention required still seems to be an open research question. We try to address some of these issues in this paper.…”

Section: Related Workmentioning

confidence: 99%

Failure recovery with shared autonomy

Sankaran

Pitzer

Osentoski

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Building robots capable of long term autonomy has been a long standing goal of robotics research. Such systems must be capable of performing certain tasks with a high degree of robustness and repeatability. In the context of personal robotics, these tasks could range anywhere from retrieving items from a refrigerator, loading a dishwasher, to setting up a dinner table. Given the complexity of tasks there are a multitude of failure scenarios that the robot can encounter, irrespective of whether the environment is static or dynamic. For a robot to be successful in such situations, it would need to know how to recover from failures or when to ask a human for help.This paper, presents a novel shared autonomy behavioral executive to addresses these issues. We demonstrate how this executive combines generalized logic based recovery and human intervention to achieve continuous failure free operation. We tested the systems over 250 trials of two different use case experiments. Our current algorithm drastically reduced human intervention from 26% to 4% on the first experiment and 46% to 9% on the second experiment. This system provides a new dimension to robot autonomy, where robots can exhibit long term failure free operation with minimal human supervision. We also discuss how the system can be generalized.

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Section: Related Workmentioning

confidence: 99%

Failure recovery with shared autonomy

Sankaran

Pitzer

Osentoski

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…ROS contains a navigation stack [6], which formed the basis of the software architecture of the USV control system described below. However, to adapt this existing software to the control object -USV -authors within this architecture has developed new motion planning software packages.…”

Section: Introductionmentioning

confidence: 99%

Local and Global Motion Planning for Unmanned Surface Vehicle

Fedorenko

Gurenko

2016

MATEC Web of Conferences

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Abstract. The paper shows approach of unmanned surface vehicle motion planning in an environment with obstacles. The structure of the control system hardware, software architecture, based on client-server model with the loose coupling in ROS software environment, is presented. Global planner is designed using the method of Generalized Voronoi Diagrams. Local planner is implemented using the unstable regimes of control to bypass obstacles near USV. The results of simulation, which showed the efficiency of the proposed approaches, are presented.

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“…"voxel" representation-the 3D space is divided into small "cubes" (Marder-Eppstein et al, 2010), 2. "surfel" representation-the space is modelled by an arrangement of surface elements (Krainin et al, 2010), 3.…”

Section: Introductionmentioning

confidence: 99%

Efficient generation of 3D surfel maps using RGB–D sensors

Wilkowski

Kornuta

Stefańczyk

et al. 2016

International Journal of Applied Mathematics and Computer Science

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The article focuses on the problem of building dense 3D occupancy maps using commercial RGB-D sensors and the SLAM approach. In particular, it addresses the problem of 3D map representations, which must be able both to store millions of points and to offer efficient update mechanisms. The proposed solution consists of two such key elements, visual odometry and surfel-based mapping, but it contains substantial improvements: storing the surfel maps in octree form and utilizing a frustum culling-based method to accelerate the map update step. The performed experiments verify the usefulness and efficiency of the developed system.

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The Office Marathon: Robust navigation in an indoor office environment

Cited by 448 publications

References 10 publications

Failure recovery with shared autonomy

Failure recovery with shared autonomy

Local and Global Motion Planning for Unmanned Surface Vehicle

Efficient generation of 3D surfel maps using RGB–D sensors

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