DocumentCode :
1421740
Title :
Pervasive communication and autonomous decision making in a domestic mobile robot
Author :
Corumba, L. ; Leao, R.P. ; Menezes, D. ; Macedo, Hendrik
Author_Institution :
Univ. Fed. de Sergipe, Sao Cristovao, Brazil
Volume :
9
Issue :
7
fYear :
2011
Firstpage :
1093
Lastpage :
1098
Abstract :
Robots are example of controllable and autonomous physical devices. In real environments, robots are useful in providing some help on dangerous or daily tasks in a residential environment. There are two main issues concerning the development of a mobile robot to act as a domestic helper. The first one concerns the self-localization problem. The second one concerns decision making. In this paper we describe a domestic mobile robot which is capable of finding itself in a house environment, take decisions autonomously and communicate these decisions in a pervasive fashion. The localization algorithm is based on particle filter whereas a Bayesian Network has been designed to provide decision making.
Keywords :
SLAM (robots); belief networks; decision theory; mobile robots; particle filtering (numerical methods); service robots; ubiquitous computing; Bayesian network; autonomous decision making; autonomous physical device; controllable device; domestic helper; domestic mobile robot; house environment; localization algorithm; particle filter; pervasive communication; residential environment; self-localization problem; Bayesian methods; Decision making; Internet; Mobile robots; Particle filters; Sonar; Bayesian Network; decision making; mobile robots; particle filter; self-localization;
fLanguage :
English
Journal_Title :
Latin America Transactions, IEEE (Revista IEEE America Latina)
Publisher :
ieee
ISSN :
1548-0992
Type :
jour
DOI :
10.1109/TLA.2011.6129708
Filename :
6129708
Link To Document :
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