Human-Robot Interaction in a Ubiquitous House
This paper reports on the development of a mobile robot system for operation within a house equipped with a ubiquitous sensor network. Human robot interaction is achieved through the combination of on-robot laser range sensing and ultrasonic sensors mounted in the ceiling of the ubiquitous environment. Places, objects or inhabitants within the environment are tagged with ultrasonic transmitters from which approximate location can be estimated. Fusing these position estimates with on-robot sensor information, the robot can navigate to the transmitter location, approach the target and await further interaction.
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