Konrad and Suse, Two Robots Guiding Visitors in a University Building

  • Ronny Stricker
  • Steffen Müller
  • Erik Einhorn
  • Christof Schröter
  • Michael Volkhardt
  • Klaus Debes
  • Horst-Michael Gross
Conference paper
Part of the Informatik aktuell book series (INFORMAT)

Abstract

This paper presents an overview of the hard- and software architecture of a mobile visitor information system for the Konrad Zuse building of the School of Computer Science and Automation at the Ilmenau University of Technology. Two mobile robots serve as mobile information terminals with capabilities for generating way descriptions and guiding the visitor to the points of interest (labs, meeting rooms, offices, employees) in the building. The paper focuses on the constraints resulting from the challenging environment in this multi-floor building, as well as on the integration aspects of various skills for navigation and human–robot interaction. Besides first experience with the system, the further development is outlined as well.

Keywords

Path Planning Docking Station Navigation Skill Dynamic Window Approach Current Floor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

References

  1. Arras, K.O., Mozos, O.M., Burgard, W.: Using boosted features for the detection of people in 2d range data. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 3402–3407 (2007)Google Scholar
  2. Einhorn, E., Langner, T.: Pilot-Modular robot navigation for real-world-applications. In: Proceedings of the 55th International Scientifc Colloquium, Ilmenau, pp. 382–393 (2010)Google Scholar
  3. Faber, F., Bennewitz, M., Eppner, C., Gorog, A., Gonsior, C., Joho, D., Schreiber, M., Behnke, S.: The humanoid museum tour guide robotinho. In: The 18th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2009), pp. 891–896 (2009)Google Scholar
  4. Ferrari, V., Marin-Jimenez, M., Zisserman, A.: Progressive search space reduction for human pose estimation. In: IEEE Conference on Computer Vision and, Pattern Recognition, pp. 1–8 (2008)Google Scholar
  5. Gross, H.-M., Böhme, H.-J., Schröter, Ch., Müller, St., König, A., Martin, Ch., Merten, M., Bley, A.: Shopbot: Progress in developing an interactive mobile shopping assistant for everyday use. In: IEEE International Conference on Systems, Man and Cybernetics (IEEE-SMC 2008), pp. 3471–3478 (2008)Google Scholar
  6. Gross, H.-M., Böhme, H.-J., Schröter, Ch., Müller, St., König, A., Einhorn, E., Martin, Ch., Merten, M., Bley, A.: Toomas: Interactive shopping guide robots in everyday use-final implementation and experiences from long-term field trials. In: IEEE/RJS International Conference on Intelligent Robots and Systems, pp. 2005–2012 (2009)Google Scholar
  7. Gross, H.-M., Schröter, Ch., Müller, S.M., Volkhardt, S., Einhorn, E., Bley, A., Martin, Ch., Langer, T., Merten, M.: I’ll keep an eye on you: home robot companion for elderly people with cognitive impairment. In: IEEE International Conference on Systems, Man and Cybernetics, Anchorage, pp. 2481–2488 (2011)Google Scholar
  8. Jensen, B., Tomatis, N., Mayor, L., Drygajlo, A., Siegwart, R.: Robots meet humans-interaction in public spaces. IEEE Trans. Indus. Electron. 52, 1530–1546 (2005)CrossRefGoogle Scholar
  9. Martin, Ch., Gross, H.-M.: A real-time facial expression recognition system based on active appearance models using gray images and edge images. In: 8th IEEE International Conference on Face and Gesture Recognition, paper number 299 (2008)Google Scholar
  10. Martin, Ch., Schaffernicht, E., Scheidig, A., Gross, H.-M.: Sensor fusion using a probabilistic aggregation scheme for people detection and people tracking. Robot. Auton. Syst. 54(9), 721–728 (2006)Google Scholar
  11. Niechwiadowicz, K., Khan, Z., Robot based logistics system for hospitals-survey. Technical Report 30, Mälardalen University, Sweden (2008)Google Scholar
  12. Philippsen, R., Siegwart, R., An interpolated dynamic navigation function. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pp. 3782–3789 (2005)Google Scholar
  13. Schraft, R.D., Graf, B., Traub, A., John, D.: A mobile robot platform for assistance and entertainment. Indus. Robot Int. J. 28(1), 29–35 (2001)CrossRefGoogle Scholar
  14. Tschichold-Gürman, N., Vestli, S.J., Schweitzer, G.: The service robot mops: first operating experiences. Robot. Auton. Syst. 34(2), 165–173 (2001)MATHCrossRefGoogle Scholar
  15. Viola, P., Jones, M.: Robust real-time object detection. Int. J. Comput. Vision 57(2), 137–154 (2002)CrossRefGoogle Scholar
  16. Volkhardt, M., Mueller, S., Schroeter, Ch., Gross, H.-M.: Playing hide and seek with a mobile companion robot. In: Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 40–46 (2011)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Ronny Stricker
    • 1
  • Steffen Müller
    • 1
  • Erik Einhorn
    • 1
  • Christof Schröter
    • 1
  • Michael Volkhardt
    • 1
  • Klaus Debes
    • 1
  • Horst-Michael Gross
    • 1
  1. 1.Cognitive Robotics LaboratoryIlmenau University of TechnologyIlmenauGermany

Personalised recommendations