Risk-Informed-RRT*: A Sampling-based Human-friendly Motion Planning Algorithm for Mobile Service Robots in Indoor Environments

2018 ◽  
Author(s):  
Wenzheng Chi ◽  
Jiankun Wang ◽  
Max Qing-Hu Meng
Keyword(s):  
Motion Planning ◽  
Service Robots ◽  
Mobile Service ◽  
Indoor Environments ◽  
Planning Algorithm ◽  
Mobile Service Robots

Automatically Annotated Mapping for Indoor Mobile Robot Applications

2012 ◽  
Author(s):  
Ali Gürcan Özkil ◽  
Thomas Howard
Keyword(s):  
Mobile Robot ◽  
Practical Method ◽  
Service Robots ◽  
Service Robot ◽  
Mobile Service ◽  
Indoor Environments ◽  
And Topology ◽  
Localization And Mapping ◽  
Indoor Mobile Robot ◽  
Mobile Service Robots

This paper presents a new and practical method for mapping and annotating indoor environments for mobile robot use. The method makes use of 2D occupancy grid maps for metric representation, and topology maps to indicate the connectivity of the ‘places-of-interests’ in the environment. Novel use of 2D visual tags allows encoding information physically at places-of-interest. Moreover, using physical characteristics of the visual tags (i.e. paper size) is exploited to recover relative poses of the tags in the environment using a simple camera. This method extends tag encoding to simultaneous localization and mapping in topology space, and fuses camera and robot pose estimations to build an automatically annotated global topo-metric map. It is developed as a framework for a hospital service robot and tested in a real hospital. Experiments show that the method is capable of producing globally consistent, automatically annotated hybrid metric-topological maps that is needed by mobile service robots.

An Autonomous Behavior Switching Method for Indoor Mobile Service Robots

2021 ◽  
Author(s):  
Yiran Tian ◽  
Xingrun An ◽  
Xiaoqing Qiu ◽  
Xichen Xu ◽  
Sen Zhang
Keyword(s):  
Service Robots ◽  
Mobile Service ◽  
Autonomous Behavior ◽  
Mobile Service Robots ◽  
Switching Method

scholarly journals Cyber-security for Mobile Service Robots – Challenges for Cyber-physical System Safety

2019 ◽  
Vol 2 ◽  
pp. 29-36 ◽  
Author(s):  
Wojciech Dudek ◽  
Wojciech Szynkiewicz
Keyword(s):  
Information And Communication Technologies ◽  
Cyber Security ◽  
Communication Technologies ◽  
Service Robots ◽  
Cyber Physical System ◽  
Mobile Service ◽  
Physical Systems ◽  
Robot Systems ◽  
Information And Communication ◽  
Mobile Service Robots

A review of the known and an indication of the new threats for cyber-physical robotic systems, caused by cybernetic attacks, serves, in this paper, as a basis for the analysis of the known methods relied upon to detect and mitigate consequences of such attacks. A particular emphasis is placed on threats specific for cyber-physical systems, as they are a feature distinguishing these systems from their traditional Information and Communication Technologies (ICT) counterparts. Based on the review of literature and own analyses, unresolved issues regarding the cyber-security of robot systems are presented and discussed.

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