The following information was submitted:
Transactions: INTERNATIONAL JOURNAL of CIRCUITS, SYSTEMS and SIGNAL PROCESSING
Transactions ID Number: 19-166
Full Name: Vitaliy Rybak
Position: Professor
Age: ON
Sex: Male
Address: 2.5 km. Carret. Acatlima
Country: MEXICO
Tel: 953 5320399
Tel prefix: 52
Fax:
E-mail address: rybak@mixteco.utm.mx
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Title of the Paper: Environment infrastructure and multi-sensor integration for autonomous service robotics
Authors as they appear in the Paper: Vitaliy Rybak
Email addresses of all the authors: rybak@mixteco.utm.mx
Number of paper pages: 11
Abstract: This paper presents an approach to enable autonomous service robots activities based on creation of an infrastructure parallel to the infrastructure of environment for daily human life and on cooperation of robot sensors. A mobile robot equipped with a manipulator is regarded as a service robot. A specific problem of control by the manipulator movement is concerned with changeable position of its base with regard to the position of the environment objects. The infrastructure contains both material and informative components. Material components are adjusted to the capabilities of the manipulator. Robot sensors provide functions based on position information. Control by the robot action starts with the assumption of exact knowledge of the initial pose of a mobile platform with regard to world coordinate system. The odometry sensors are used as metric reference. Visual sensors and laser rangefinder are used for verification of robot's current pose. Proposed collabora!
tive sensors data processing is used to cut down analyzed space of scene by directed selection of the area of interest and to replace the pattern recognition problem solving by the verification of the state of known scene. We proposed the visual informative landmark and mono-camera vision system that provide the robot direct measurement of its 3D spatial position with respect to landmark coordinate system and with additional environment information. It serves as the base to design an environment model representation as a hybrid of topological and metrical maps.
Keywords: Collaborative sensors data processing, environment infrastructure, informative visual landmark, service robotics.
EXTENSION of the file: .pdf
Special (Invited) Session: Collaborative Sensors Data Processing and Environment Information Infrastructure as Means to Support Autonomous Actions of Service Robots
Organizer of the Session: 638-219 Invited Paper to the 3rd WSEAS Intern. Conf. on Sensors and Signals SENSIG'10, Faro, Portugal, 3-5.11.2010
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