Abstract
This study proposes devices suitable for use by non-experts to design robot navigation routes. The user places landmarks, called pebbles, on the floor to tell navigation routes to a robot. Using infrared communication, the pebbles automatically generate navigation routes. The system is designed such that non-expert users can understand the system status to configure the user’s target environment without expert assistance. During deployment, the system provides LED and voice feedback. The user can confirm that the devices are appropriately placed for the construction of a desired navigation network. In addition, because there is a device at each destination, our method can name locations by associating a device ID with a particular name. A user study showed that non-expert users were able to understand device usage and construct robot navigation routes.
Chapter PDF
Similar content being viewed by others
References
Leonard, J.J., Durrant-Whyte, H.F.: Simultaneous Map Building and Localization for an Autonomous Mobile Robot. In: IEEE/RSJ International Workshop on Intelligent Robots and Systems, vol. 3, pp. 1442–1447 (1991)
Shiomi, M., Sakamoto, D., Kanda, T., Ishi, C.T., Ishiguro, H., Hagita, N.: A Semi-autonomous Communication Robot - A Field Trial at a Train Station -. In: ACM/IEEE Annual Conference on Human-Robot Interaction, pp. 303–310 (2008)
Ishii, K., Takeoka, Y., Inami, M., Igarashi, T.: Drag-and-Drop Interface for Registration-Free Object Delivery. In: IEEE International Symposium on Robot and Human Interactive Communication, pp. 228–233 (2010)
Park, S., Hashimoto, S.: Indoor localization for autonomous mobile robot based on passive RFID. In: IEEE International Conference on Robotics and Biomimetics, pp. 1856–1861 (2009)
Park, S., Hashimoto, S.: Autonomous Mobile Robot Navigation Using Passive RFID in Indoor Environment. IEEE Transactions on Industrial Electronics 56(7), 2366–2373 (2009)
Mi, H., Ishii, K., Ma, L., Laokulrat, N., Inami, M., Igarashi, T.: Pebbles: An Interactive Configuration Tool for Indoor Robot Navigation. In: Annual ACM Symposium on User Interface Software and Technology, Demonstrations, pp. 11–12 (2012)
Bahl, P., Padmanabhan, V.N.: RADAR: An In-Building RF-based User Location and Tracking System. In: The Conference on Computer Communications, Annual Joint Conference of the IEEE Computer and Communications Societies, vol. 2, pp. 775–784 (2000)
Haeberlen, A., Flannery, E., Ladd, A.M., Rudys, A., Wallach, D.S., Kavraki, L.E.: Practical Robust Localization over Large-Scale 802.11 Wireless Networks. In: Annual International Conference on Mobile Computing and Networking, pp. 70–84 (2004)
Nishida, Y., Aizawa, H., Hori, T., Hoffman, N.H., Kanade, T., Kakikura, M.: 3D Ultrasonic Tagging System for Observing Human Activity. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 785–791 (2003)
Chang, H., Choi, J., Kim, M.: Experimental research of probabilistic localization of service robots using range image data and indoor GPS system. In: IEEE International Conference on Emerging Technologies and Factory Automation, pp. 1021–1027 (2006)
Niwa, H., Kodaka, K., Sakamoto, Y., Otake, M., Kawaguchi, S., Fujii, K., Kanemori, Y., Sugano, S.: GPS-based Indoor Positioning system with Multi-Channel Pseudolite. In: IEEE International Conference on Robotics and Automation, pp. 905–910 (2008)
Gonzalez, J., Blanco, J.L., Galindo, C., Ortiz-de-Galisteo, A., Fernaindez-Madrigal, J.A., Moreno, F.A., Martinez, J.L.: Combination of UWB and GPS for indoor-outdoor vehicle localization. In: IEEE International Symposium on Intelligent Signal Processing, pp. 1–6 (2007)
Ubisense, http://www.ubisense.net
Ishiguro, H.: Distributed Vision System: A Perceptual Information Infrastructure for Robot Navigation. In: International Joint Conference on Artificial Intelligence, pp. 36–41 (1997)
Saito, S., Hiyama, A., Tanikawa, T., Hirose, M.: Indoor Marker-based Localization Using Coded Seamless Pattern for Interior Decoration. In: IEEE Virtual Reality Conference, pp. 67–74 (2007)
Nakazato, Y., Kanbara, M., Yokoya, N.: Localization System for Large Indoor Environments Using Invisible Markers. In: ACM Symposium on Virtual Reality Software and Technology, pp. 295–296 (2008)
Miyama, S., Imai, M., Anzai, Y.: Rescue Robot under Disaster Situation: Position Acquisition with Omni-directional Sensor. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 4, pp. 3132–3137 (2003)
Pugh, J., Martinoli, A.: Relative Localization and Communication Module for Small-Scale Multi-Robot Systems. In: IEEE International Conference on Robotics and Automation, pp. 188–193 (2006)
Pugh, J., Raemy, X., Favre, C., Falconi, R., Martinoli, A.: A Fast Onboard Relative Positioning Module for Multirobot Systems. IEEE Transactions on Mechatronics 14(2), 151–162 (2009)
Roberts, J.F., Stirling, T.S., Zufferey, J.C., Floreano, D.: 2.5D Infrared Range and Bearing System for Collective Robotics. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3659–3664 (2009)
Yap, T.N., Shelton, C.R.: SLAM in Large Indoor Environments with Low-Cost, Noisy, and Sparse Sonars. In: IEEE International Conference on Robotics and Automation, pp. 1395–1401 (2009)
Montemerlo, M., Thrun, S., Koller, D., Wegbreit, B.: FastSLAM: A Factored Solution to the Simultaneous Localization and Mapping Problem. In: National Conference on Artificial Intelligence, pp. 593–598 (2002)
Davison, A.J., Murray, D.W.: Mobile robot localisation using active vision. In: Burkhardt, H., Neumann, B. (eds.) ECCV 1998. LNCS, vol. 1407, pp. 809–825. Springer, Heidelberg (1998)
Hwang, S.Y., Song, J.B.: Monocular Vision-Based SLAM in Indoor Environment Using Corner, Lamp, and Door Features From Upward-Looking Camera. IEEE Transactions on Industrial Electronics 58(10), 4804–4812 (2011)
Pirker, K., Ruther, M., Bischof, H., Schweighofer, G., Mayer, H.: An Omnidirectional Time-of-Flight Camera and its Application to Indoor SLAM. In: International Conference on Control, Automation, Robotics and Vision, pp. 988–993 (2010)
Ishii, H., Ullmer, B.: Tangible Bits: Towards Seamless Interfaces between People, Bits and Atoms. In: ACM SIGCHI Conference on Human Factors in Computer Systems, pp. 234–241 (1997)
Dijkstra, E.W.: A Note on Two Problems in Connexion with Graphs. Numerische Mathematik 1(1), 269–271 (1959)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 IFIP International Federation for Information Processing
About this paper
Cite this paper
Ishii, K., Mi, H., Ma, L., Laokulrat, N., Inami, M., Igarashi, T. (2013). Pebbles: User-Configurable Device Network for Robot Navigation. In: Kotzé, P., Marsden, G., Lindgaard, G., Wesson, J., Winckler, M. (eds) Human-Computer Interaction – INTERACT 2013. INTERACT 2013. Lecture Notes in Computer Science, vol 8118. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40480-1_28
Download citation
DOI: https://doi.org/10.1007/978-3-642-40480-1_28
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-40479-5
Online ISBN: 978-3-642-40480-1
eBook Packages: Computer ScienceComputer Science (R0)