A framework for optimal assistive robot placement for event recognition

We present the development of a novel system that optimally positions a number of robots in an assistive environment and can be used in a domestic environment inhabited by an elderly or disabled person, for event recognition. Placement of the robots is done by means of the Extended Max Sum Decentralized Coordination algorithm. The robot used is based on the iRobot Create platform that is controlled by a laptop and carries a number of multimodal sensors. The sensor readings are taken into account during the optimal placement process, in addition to the environment layout, in order to maximize the system´s effectiveness.