Topological environment reconstruction in informationally structured space for pocket robot partners

This paper deals with environment reconstruction in informationally structured space used for pocket robot partners. The environmental information is measured through the sensor network, and is stored in the remote host computer. The pocket robot partner accesses the environment information through wireless LAN, and receives a 3D model of the environment including people and other robots. Therefore, we propose a topological environment reconstruction method to extract the state of the environment. Finally, we show several experimental results of the proposed method, and discuss the effectiveness of the proposed method.