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Authors: Max Stähr ; Andrew M. Wallace and Neil M. Robertson

Affiliation: Heriot Watt University, United Kingdom

ISBN: 978-989-758-040-6

Keyword(s): Mobile Robot Sensor Placement, Collision Avoidance, Human Robot Cooperation.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Engineering Applications ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Optimization Algorithms ; Perception and Awareness ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: Continuous sensing of the environment from a mobile robot perspective can prevent harmful collisions between human and mobile service robots. However, the overall collision avoidance performance depends strongly on the optimal placement of multiple depth sensors on the mobile robot and maintains flexibility of the working area. In this paper, we present a novel approach to optimal sensor placement based on the visibility of the human in the robot environment combined with a quantified risk of collision. Human visibility is determined by ray tracing from all possible camera positions on the robot surface, quantifying safety based on the speed and direction of the robot throughout a pre-determined task. A cost function based on discrete cells is formulated and solved numerically for two scenarios of increasing complexity, using a CUDA implementation to reduce computation time.

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Paper citation in several formats:
Stähr M., M. Wallace A. and M. Robertson N. (2014). Depth Sensor Placement for Human Robot Cooperation.In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 311-318. DOI: 10.5220/0005017103110318

@conference{icinco14,
author={Max Stähr and Andrew M. Wallace and Neil M. Robertson},
title={Depth Sensor Placement for Human Robot Cooperation},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={311-318},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005017103110318},
isbn={978-989-758-040-6},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Depth Sensor Placement for Human Robot Cooperation
SN - 978-989-758-040-6
AU - Stähr M.
AU - M. Wallace A.
AU - M. Robertson N.
PY - 2014
SP - 311
EP - 318
DO - 10.5220/0005017103110318

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