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Erschienen in:
Generation of Search Behavior by a Modification of Q-MDP Value Method Kapitel lesen Erstes Kapitel lesen

2016 | OriginalPaper | Buchkapitel

Autonomous Determination of Locations for Observing Home Environment Using a Mobile Robot

verfasst von : Syed Atif Mehdi, Karsten Berns

Erschienen in: Intelligent Autonomous Systems 13

Verlag: Springer International Publishing

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Abstract

The paper focuses on determining locations in a typical home environment for monitoring or observing the surroundings using an indoor mobile robot. Currently, these locations are manually selected for the robots. In the process of autonomously evaluating minimum number of key locations, the proposed methodology targets free spaces in the environment that may provide maximum observability to a mobile robot with limited range of sensor systems. The technique also ensures that these locations are at a distance from obstacles in the environment in order to guarantee sufficient space for robot navigation. The experiments have been performed both in real apartment using an autonomous mobile robot and in simulation with a variety of environments. The results demonstrate an area coverage of up to \(96\,\%\) with minimal locations computed in fairly acceptable time. These locations can be used in various scenarios like monitoring an elderly person in the home environment.

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Vorheriges Kapitel pRoPhEt MAS: Reactive Planning Engine for Multiagent Systems
Nächstes Kapitel Enhanced Stochastic Mobility Prediction on Unstructured Terrain Using Multi-output Gaussian Processes
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Metadaten
Titel
Autonomous Determination of Locations for Observing Home Environment Using a Mobile Robot
verfasst von
Syed Atif Mehdi
Karsten Berns
Copyright-Jahr
2016
Buch
Intelligent Autonomous Systems 13

Print ISBN: 978-3-319-08337-7

Electronic ISBN: 978-3-319-08338-4

Copyright-Jahr: 2016

DOI
https://doi.org/10.1007/978-3-319-08338-4_13