Tracing commodities in indoor environments for service robotics

Oscar Martinez Mozos, François Chollet, Kouji Murakami, Ken'Ichi Morooka, Tokuo Tsuji, Ryo Kurazume, Tsutomu Hasegawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


Daily life assistance for elderly people is one of the most promising scenarios for service robots in the near future. In particular, the go-and-fetch task will be one of the most demanding tasks in these cases. In this paper, we present an informationally structured room that supports a service robot in the task of daily object fetching. Our environment contains different distributed sensors including a floor sensing system and several intelligent cabinets. Sensor information is sent to a centralized management system which processes the data and makes it available to a service robot which is assisting people in the room. We additionally present the first steps of an intelligent framework used to maintain information about locations of commodities in our informationally structured room. This information will be used by the service robot to find objects under request. One of the main goal of our intelligent environment is to maintain a small number of sensors to avoid interfering with the daily activity of people and to reduce as much as possible the invasion of their privacy. In order to compensate this limited available sensor information our framework aims to exploit knowledge about people's activity and their interaction with objects to infer reliable information about the location of commodities. This paper presents simulated results that demonstrate the suitability of this framework to be applied to a service robotic environment equipped with limited sensors. In addition we discuss some preliminary experiments using our real environment and robot.

Original languageEnglish
Title of host publicationSYROCO 2012 Preprints - 10th IFAC Symposium on Robot Control
PublisherIFAC Secretariat
Number of pages6
ISBN (Print)9783902823113
Publication statusPublished - 2012
Event10th IFAC Symposium on Robot Control, SYROCO 2012 - Dubrovnik, Croatia
Duration: Sept 5 2012Sept 7 2012

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670


Other10th IFAC Symposium on Robot Control, SYROCO 2012

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


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