Adapting the Point of View for Behavior-Based Navigation

Perception triggered response behavior together with the selection of the appropriate environmental cues can properly guide the robot towards its goal. But often landmarks are difficult to be recognised by the robot; these difficulties are increased due to the morphology of the robot and its movements. Dynamic orientation of the camera's parameters, fixing the attention of the visual system on relevant environmental features, can greatly improve vision based landmark identification. This paper presents an approach to sonar and compass based dynamic selection of pan, tilt and zoom values.

[1]  David E. Goldberg,et al.  Genetic Algorithms in Search Optimization and Machine Learning , 1988 .

[2]  Dana H. Ballard,et al.  Animate Vision , 1991, Artif. Intell..

[3]  E. Lazkano,et al.  On the Adequateness of Emergency Exit Panel and Corridor Identification as Pilot Scheme for a Mobile Robot , 2004 .

[4]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[5]  Thomas G. Dietterich.  What is machine learning? , 2020, Archives of Disease in Childhood.

[6]  Jean-Arcady Meyer,et al.  BIOLOGICALLY BASED ARTIFICIAL NAVIGATION SYSTEMS: REVIEW AND PROSPECTS , 1997, Progress in Neurobiology.

[7]  BASILIO SIERRA,et al.  ACTIVE LANDMARK PERCEPTION , 2004 .

[8]  David W. Murray,et al.  Tracking While Zooming Using Affine Transfer and Multifocal Tensors , 2004, International Journal of Computer Vision.

[9]  Basilio Sierra,et al.  SORGIN : A SOFTWARE FRAMEWORK FOR BEHAVIOR CONTROL IMPLEMENTATION , 2003 .

[10]  Ulrich Nehmzow,et al.  Robot navigation in the real world: : Experiments with Manchester's FortyTwo in unmodified, large environments , 2000, Robotics Auton. Syst..

[11]  Andrew J. Davison,et al.  Mobile Robot Navigation Using Active Vision , 1998 .

[12]  Ben Tordoff,et al.  Active control of zoom for computer vision , 2002 .

[13]  José María Armingol,et al.  LEARNING VISUAL LANDMARKS FOR MOBILE ROBOT NAVIGATION , 2002 .

[14]  Richard T. Vaughan,et al.  The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems , 2003 .

[15]  François Michaud.  Teaching a robot how to read symbols , 2001, AGENTS '01.

[16]  Les A. Piegl,et al.  The NURBS Book , 1995, Monographs in Visual Communication.

[17]  Maja J. Mataric,et al.  Behaviour-based control: examples from navigation, learning, and group behaviour , 1997, J. Exp. Theor. Artif. Intell..

[18]  Albert-Jan Baerveldt,et al.  Robot localization based on scan-matching - estimating the covariance matrix for the IDC algorithm , 2003, Robotics Auton. Syst..

[19]  Hanspeter A. Mallot,et al.  Biomimetic robot navigation , 2000, Robotics Auton. Syst..

[20]  Maja J. Matari,et al.  Behavior-based Control: Examples from Navigation, Learning, and Group Behavior , 1997 .