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Authors: Kun Qian ; Dan Niu ; Xudong Ma and Fang Fang

Affiliation: Key Laboratory of Measurement and Control of CSE, Ministry of Education, School of Automation and Southeast University, China

ISBN: 978-989-758-264-6

Keyword(s): Mobile Robot, Gaussian Process, Shared control, Semi-autonomous, Wi-Fi Signal Strength.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Telerobotics and Teleoperation

Abstract: In this paper, a novel human-robot shared control approach is proposed to solve the problem of semi-autonomous mobile robot navigation with the spatial constraints of maintaining reliable Wi-Fi connection. In particular, the presented approach benefits from using Gaussian Process Regression method to learn the distribution of indoor Wi-Fi signal strength (WSS) and to fuse it with the environmental occupancy probability. The resulting WSS-Occupancy hybrid map is further utilized for generating paths that prevent the robot from violating the spatial restriction. A shared control strategy is designed to implement the WSS-aware navigation behaviour. The approach is evaluated by both simulation and real-world experiments, in which the results validate the practicability and effectiveness of the approach.

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Paper citation in several formats:
Qian, K.; Niu, D.; Fang, F. and Ma, X. (2017). Learning Spatial Constraints using Gaussian Process for Shared Control of Semi-autonomous Mobile Robots.In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-264-6, pages 201-208. DOI: 10.5220/0006382902010208

@conference{icinco17,
author={Kun Qian. and Dan Niu. and Fang Fang. and Xudong Ma.},
title={Learning Spatial Constraints using Gaussian Process for Shared Control of Semi-autonomous Mobile Robots},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2017},
pages={201-208},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006382902010208},
isbn={978-989-758-264-6},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Learning Spatial Constraints using Gaussian Process for Shared Control of Semi-autonomous Mobile Robots
SN - 978-989-758-264-6
AU - Qian, K.
AU - Niu, D.
AU - Fang, F.
AU - Ma, X.
PY - 2017
SP - 201
EP - 208
DO - 10.5220/0006382902010208

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