An issue widely discussed in robotics research is the ageing society with its consequences for care-giving institutions and opportunities for developments in the area of service robots and robot companions. The general idea of using robotic systems in a personal or private context to support an independent way of living not only for the elderly but also for the physically impaired is pursued in different ways, ranging from socially oriented robotic pets to mobile assistants. Thus, the idea of the personalised general service robot is not too far fetched. Crucial for such a service robot is the ability to navigate in its working environment, which has to be assumed an arbitrary domestic or office-like environment that is shared with human users and bystanders. With methods developed and investigated in the field of simultaneous localisation and mapping it has become possible for mobile robots to explore and map an unknown environment, while they can stay localised with respect to their starting point and the surroundings. These approaches though do not consider the representation of the environment that is used by humans to refer to particular places. Robotic maps are often metric representations of features that can be obtained from sensory data. Humans have a more topological, in fact partially hierarchical way of representing environments. Especially for the communication between a user and her personal robot it is thus necessary to provide a link between the robotic map and the human understanding of the robot's workspace. The term Human Augmented Mapping is used for a framework that allows to integrate a robotic map with human concepts. Communication about the environment can thus be facilitated. By assuming an interactive setting for the map acquisition process it is possible for the user to influence the process significantly. Personal preferences can be made part of the environment representation that is acquired by the robot. Advantages become also obvious for the mapping process itself, since in an ...


    Access

    Download


    Export, share and cite



    Title :

    Human-Robot Interaction and Mapping with a Service Robot : Human Augmented Mapping


    Contributors:

    Publication date :

    2008-01-01


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Functional Mapping for Human-robot Collaborative Exploration

    Keshavdas, S. / Kruijff, G.-J.M. | British Library Online Contents | 2013


    Functional Mapping for Human—Robot Collaborative Exploration

    Keshavdas, Shanker / Kruijff, Geert-Jan M. | British Library Online Contents | 2013


    Human-robot collaborative scene mapping from relational descriptions

    Retamino Carrión, Eloy / Sanfeliu, Alberto | BASE | 2014

    Free access

    Textile Pressure Mapping Sensor for Emotional Touch Detection in Human-Robot Interaction

    Zhou, Bo / Velez Altamirano, Carlos Andres / Cruz Zurian, Heber et al. | BASE | 2017

    Free access

    Human-robot collaborative scene mapping from relational descriptions

    Retamino Carrión, Eloy / Sanfeliu Cortés, Alberto | BASE | 2013

    Free access