Title :
A robust integrated system for selecting and commanding multiple mobile robots
Author :
Pourmehr, Shokoofeh ; Monajjemi, Valiallah ; Wawerla, Jens ; Vaughan, Rodney ; Mori, Greg
Author_Institution :
Sch. of Comput. Sci., Simon Fraser Univ., Burnaby, BC, Canada
Abstract :
We describe a system whereby multiple humans and mobile robots interact robustly using a combination of sensing and signalling modalities. Extending our previous work on selecting an individual robot from a population by face-engagement, we show that reaching toward a robot - a specialization of pointing - can be used to designate a particular robot for subsequent one-on-one interaction. To achieve robust operation despite frequent sensing problems, the robots use three phases of human detection and tracking, and emit audio cues to solicit interaction and guide the behaviour of the human. A series of real-world trials demonstrates the practicality of our approach.
Keywords :
human-robot interaction; mobile robots; multi-robot systems; object detection; object tracking; robot vision; audio cues; human detection; human tracking; multiple mobile robots commanding; multiple mobile robots selection; robust integrated system; sensing modalities; signalling modalities; subsequent one-on-one interaction; Legged locomotion; Robot kinematics; Robot sensing systems; Robustness; Skeleton;
Conference_Titel :
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location :
Karlsruhe
Print_ISBN :
978-1-4673-5641-1
DOI :
10.1109/ICRA.2013.6630975