Skip to main content
SpringerLink
Log in
Book cover

Robotics Research pp 505–523Cite as

Introduction to the Robot Town Project and 3-D Co-operative Geometrical Modeling Using Multiple Robots

  • Chapter
  • First Online:

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 100))

Abstract

This paper introduces the author’s research project called the “Robot Town Project”. Service robots, which co-exist with humans and provide various services in daily life, must have sufficient ability to sense changes in the environment and deal with a variety of situations. However, since the daily environment is complex and unpredictable, it is almost impossible with current methods to sense all the necessary information using only a robot and the attached sensors. One promising approach for robots to co-exist with humans is to use IT technology, such as a distributed sensor network and network robotics. As an empirical example of this approach, the authors have started Robot Town Project. The aim of this research project is to develop a distributed sensor network system covering an area of a block in a town in which there are many houses, buildings, and roads, and manage robot services by monitoring events that occur in the town. This paper introduces currently available technologies including an RFID-tag-based localization system, distributed sensor systems for moving object tracking, and object management systems using RFID tags. For the construction of 3-D geometrical models of large-scale environments, a measurement and modeling system using a group of multiple robots and an on-board laser range finder is also introduced.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   84.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD   109.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  1. P.J. Besl, N.D. McKay, A method for registration of 3-d shapes. IEEE Trans. Pattern Anal. Mach. Intell. 2(14), 239–256 (1992)

    Article  Google Scholar 

  2. Y. Chen, G. Medioni, Object modelling by registration of multiple range images. Image Vis. Comput. 3(10), 145–155 (1992)

    Article  Google Scholar 

  3. D.M. Cole, P.M. Newman, Using laser range data for 3d slam in outdoor environment, in Proceedings of IEEE International Conference on Robotics and Automation, 2006, pp. 1556–1563

    Google Scholar 

  4. I.A. Essa, Ubiquitous sensing for smart and aware environments: Technologies toward the building of an aware home, in Position Paper for the DARPA/NSF/NIST workshop on Smart Environment, 1999

    Google Scholar 

  5. A. Howard, Multi-robot simultaneous localization and mapping using particle filters. Int. J. Robot. Res. 25(125), 1243–1256 (2006)

    Article  Google Scholar 

  6. A. Howard, M.J. Matarić, G.S. Sukhatme, Putting the ‘i’ in ‘team’: an ego-centric approach to cooperative localization, in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2003, pp. 868–892

    Google Scholar 

  7. Y. Iwashita, R. Kurazume, T. Mori, M. Saito, T. Hasegawa, Model-based motion tracking system using distributed network camera, in Proceedings of IEEE International Conference on Robotics and Automation, 2010, pp. 3020–3025

    Google Scholar 

  8. Y. Iwashita, M. Saito, R. Kurazume, T. Hasegawa, Motion tracking in daily environment using distributed image and laser sensors, in The First International Workshop on Human Behavior Sensing, 2010

    Google Scholar 

  9. C.D. Kidd, R. Orr, G.D. Abowd, C.G. Atkeson, I.A.E. an Blair MacIntyre, E.D. Mynatt, T. Starner, W. Newstetter, The aware home: a living laboratory for ubiquitous computing research, in Proceedings of the Second International Workshop on Cooperative Buildings, Integrating Information, Organization, and Architecture, 1999, pp. 191–198

    Google Scholar 

  10. R. Kurazume, S. Hirose, An experimental study of a cooperative positioning system. Auton. Robot. 8(1), 43–52 (2000)

    Article  Google Scholar 

  11. R. Kurazume, S. Nagata, S. Hirose, Cooperative positioning with multiple robots, in Proceedings of IEEE International Conference on Robotics and Automation, vol. 2, 1994, pp. 1250–1257

    Google Scholar 

  12. R. Kurazume, Y. Noda, Y. Tobata, K. Lingemann, Y. Iwashita, T. Hasegawa, Laser-based geometric modeling using cooperative multiple mobile robots, in Proceedings of IEEE International Conference on Robotics and Automation, 2009, pp. 3200–3205

    Google Scholar 

  13. R. Kurazume, Y. Tobata, Y. Iwashita, T. Hasegawa, 3d laser measurement system for large scale architectures using multiple mobile robots, in Proceedings of the 6th International Conference on 3-D Digital Imaging and Modeling (3DIM2007) (2007)

    Google Scholar 

  14. R. Kurazume, H. Yamada, K. Murakami, Y. Iwashita, T. Hasegawa, Target tracking using sir and mcmc particle filters by multiple cameras and laser range finders, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008, pp. 3838–3844

    Google Scholar 

  15. J.H. Lee, K. Morioka, A. Ando, H. Hashimoto, Cooperation of distributed intelligent sensors in intelligent environment. IEEE/ASME Trans. Mechatr. 9(3), 535–543 (2004)

    Article  Google Scholar 

  16. M.D. Marco, A. Garulli, A. Giannitrapani, A. Vicino, Simultaneous localization and map building for a team of cooperating robots: a set membership approach. IEEE Trans. Robot. Autom. 19(2), 1243–1256 (2003)

    Article  Google Scholar 

  17. L. Montesano, J. Gaspar, J. Santos-Victor, L. Montano, Cooperative localization by fusing vision-based bearing measurements and motion, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, pp. 2333–2338

    Google Scholar 

  18. K. Murakami, T. Hasegawa, K. Shigematsu, F. Sueyasu, Y. Nohara, B. Ahn, R. Kurazume, Position tracking system for commodities in a daily life environment, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, pp. 3712–3718

    Google Scholar 

  19. Y. Nakauchi, T. Fukuda, K. Noguchi, T. Matsubara, Intelligent kitchen: Cooking support by lcd and mobile robot with ic-labeled objects, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, pp. 2464–2469

    Google Scholar 

  20. E. Nerurkar, S. Roumeliotis, A. Martinelli, Distributed maximum a posteriori estimation for multi-robot cooperative localization, in Proceedings of IEEE International Conference on Robotics and Automation, 2009, pp. 1402–1409

    Google Scholar 

  21. Y. Nishida, T. Hori, T. Suehiro, S. Hirai, Sensorized environment for self-communication based on observation of daily human behavior, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2000, pp. 1364–1372

    Google Scholar 

  22. A. Nüchter, H. Surmann, K. Lingemann, J. Hertzberg, S. Thrun, 6d slam with an application in autonomous mine mapping, in Proceedings of IEEE International Conference on Robotics and Automation, 2004, pp. 1998–2003

    Google Scholar 

  23. K. Ohno, T. Tsubouchi, S. Yuta, Outdoor map building based on odometory and rtk-gps positioning fusion, in Proceedings of IEEE International Conference on Robotics and Automation, 2004, pp. 684–690

    Google Scholar 

  24. S. Panzieri, F. Pascucci, R. Setola, Multirobot localization using interlaced extended Kalman filter, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, pp. 2816–2821

    Google Scholar 

  25. A. Pentland, Smart rooms. Sci. Am. 54–62 (1996)

    Google Scholar 

  26. I. Rekleitis, G. Dudek, E. Milios, Multi-robot cooperative localization: a study of trade-offs between efficiency and accuracy, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, pp. 2690–2696

    Google Scholar 

  27. T. Sato, T. Harada, T. Mori, Environment-type robot system “robotic room” featured by behavior media, behavior contents, and behavior adaptation. IEEE/ASME Trans. Mechatr. 9(3), 529–534 (2004)

    Article  Google Scholar 

  28. J. Spletzer, A. Das, R. Fierro, C. Taylor, V. Kumar, J. Ostrowski, Cooperative localization and control for multi-robot manipulation, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 2, 2001, pp. 631–636

    Google Scholar 

  29. S. Thrun, A probabilistic online mapping algorithm for teams of mobile robots. Int. J. Robot. Res. 20(5), 335–363 (2001)

    Article  Google Scholar 

  30. S. Thrun, M. Montemerlo, The graph slam algorithm with applications to large-scale mapping of urban structures. Int. J. Robot. Res. 25(5–6), 403–429 (2006)

    Article  Google Scholar 

  31. R. Triebel, P. Pfaff, W. Burgard, Multi-level surface maps for outdoor terrain mapping and loop closing, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, pp. 2276–2282

    Google Scholar 

  32. J. Weingarten, R. Siegwart: Ekf-based 3d slam for structured environment reconstruction, in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, pp. 2089–2094

    Google Scholar 

  33. H. Zhao, R. Shibasaki, Reconstructing a textured cad model of an urban environment using vehicle-borne lase range scanners and line cameras. Mach. Vis. Appl. 14, 35–41 (2003)

    Article  MATH  Google Scholar 

Download references

Acknowledgements

This work was partially supported by Grant-in-Aid for Scientific Research (B) (23360115).

Author information

Authors and Affiliations

  1. Kyushu University, 744, Motooka, Nishi-ku, Fukuoka, 8190395, Japan

    Ryo Kurazume

  2. Jet Propulsion Laboratory, M/S 198-235 4800 Oak Grove Drive, Pasadena, 91109, CA, USA

    Yumi Iwashita

  3. Kyushu Sangyo University, 2-3-1, Matsukadai, Higashi-ku, Fukuoka, 8138503, Japan

    Koji Murakami

  4. Kumamoto National College of Technology, 2659-2, Suya, Koshi-shi, 8611102, Kumamoto, Japan

    Tsutomu Hasegawa

Authors
  1. Ryo Kurazume
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Yumi Iwashita
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Koji Murakami
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Tsutomu Hasegawa
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Ryo Kurazume .

Editor information

Editors and Affiliations

  1. Robotics and Intelligent Machines, Georgia Institute of Technology College of Computing, Atlanta, Georgia, USA

    Henrik I. Christensen

  2. Department of Computer Science, Stanford University, Stanford, California, USA

    Oussama Khatib

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing Switzerland

About this chapter

Cite this chapter

Kurazume, R., Iwashita, Y., Murakami, K., Hasegawa, T. (2017). Introduction to the Robot Town Project and 3-D Co-operative Geometrical Modeling Using Multiple Robots. In: Christensen, H., Khatib, O. (eds) Robotics Research . Springer Tracts in Advanced Robotics, vol 100. Springer, Cham. https://doi.org/10.1007/978-3-319-29363-9_29

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-29363-9_29

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-29362-2

  • Online ISBN: 978-3-319-29363-9

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation