Time-space Viewpoint Planning for Guard Robot with Chance Constraint


This paper presents a novel movement planning algorithm for a guard robot in an indoor environment, imitating the job of human security. A movement planner is employed by the guard robot to continuously observe a certain person. This problem can be distinguished from the person following problem which continuously follows the object. Instead, the movement planner aims to reduce the movement and the energy while keeping the target person under its visibility. The proposed algorithm exploits the topological features of the environment to obtain a set of viewpoint candidates, and it is then optimized by a cost-based set covering problem. Both the robot and the target person are modeled using geodesic motion model which considers the environment shape. Subsequently, a particle model-based planner is employed, considering the chance constraints over the robot visibility, to choose an optimal action for the robot. Simulation results using 3D simulator and experiments on a real environment are provided to show the feasibility and effectiveness of our algorithm.

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Author information

Correspondence to Igi Ardiyanto.

Additional information

Recommended by Associate Editor Qing-Long Han

Igi Ardiyanto received the B. Eng. degree in electrical engineering from Universitas Gadjah Mada, Indonesia in 2009, the M. Eng. and Dr. Eng. degrees in computer science and engineering from Toyohashi University of Technology (TUT), Japan in 2012 and 2015, respectively. He joined the TUT-NEDO (New Energy and Industrial Technology Development Organization, Japan) research collaboration on service robots, in 2011. He is now an assistant professor at Universitas Gadjah Mada, Indonesia. He received several awards, including Finalist of the Best Service Robotics Paper Award at the 2013 IEEE International Conference on Robotics and Automation and Panasonic Award for the 2012 RT-Middleware Contest.

His research interests include planning and control system for mobile robotics, deep learning, and computer vision.

Jun Miura received the B. Eng. degree in mechanical engineering in 1984, the M. Eng. and Dr. Eng. degrees in information engineering in 1986 and 1989, respectively, all from the University of Tokyo, Japan. In 1989, he joined Department of Computer-controlled Mechanical Systems, Osaka University, Japan. Since April 2007, he has been a professor at Department of Information and Computer Sciences, Toyohashi University of Technology, Japan. From March 1994 to February 1995, he was a visiting scientist at the Computer Science Department, Carnegie Mellon University, USA. He received the Best Paper Award from the Robotics Society of Japan in 1997. He was also selected as one of the six finalists for the Best Paper Award at 1995 IEEE International Conference on Robotics and Automation.

His research interests include mobile robotics, computer vision, intelligent transportation system, and pattern recognition.

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Ardiyanto, I., Miura, J. Time-space Viewpoint Planning for Guard Robot with Chance Constraint. Int. J. Autom. Comput. 16, 475–490 (2019) doi:10.1007/s11633-018-1146-7

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  • Guard robot
  • viewpoint planning
  • state-time space
  • uncertainty
  • topology
  • chance-constraint