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Intelligent Autonomous Systems 13 pp 159–171Cite as

Autonomous Determination of Locations for Observing Home Environment Using a Mobile Robot

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 302))

Abstract

The paper focuses on determining locations in a typical home environment for monitoring or observing the surroundings using an indoor mobile robot. Currently, these locations are manually selected for the robots. In the process of autonomously evaluating minimum number of key locations, the proposed methodology targets free spaces in the environment that may provide maximum observability to a mobile robot with limited range of sensor systems. The technique also ensures that these locations are at a distance from obstacles in the environment in order to guarantee sufficient space for robot navigation. The experiments have been performed both in real apartment using an autonomous mobile robot and in simulation with a variety of environments. The results demonstrate an area coverage of up to \(96\,\%\) with minimal locations computed in fairly acceptable time. These locations can be used in various scenarios like monitoring an elderly person in the home environment.

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Notes

  1. 1.

    http://heracleia.uta.edu/.

  2. 2.

    http://www.ifr.org/service-robots/.

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Author information

Authors and Affiliations

  1. Robotics Research Lab, Department of Computer Science, University of Kaiserslautern, Kaiserslautern, Germany

    Syed Atif Mehdi & Karsten Berns

Authors
  1. Syed Atif Mehdi
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  2. Karsten Berns
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Corresponding author

Correspondence to Syed Atif Mehdi .

Editor information

Editors and Affiliations

  1. Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Nathan Michael

  3. Fachbereich Informatik, Technische Universität Kaiserslautern Arbeitsgruppe Robotersysteme, Kaiserslautern, Germany

    Karsten Berns

  4. Integrated Information Technology, Aoyama Gakuin University, Tokyo, Japan

    Hiroaki Yamaguchi

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© 2016 Springer International Publishing Switzerland

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Mehdi, S.A., Berns, K. (2016). Autonomous Determination of Locations for Observing Home Environment Using a Mobile Robot. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_13

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  • DOI: https://doi.org/10.1007/978-3-319-08338-4_13

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-08337-7

  • Online ISBN: 978-3-319-08338-4

  • eBook Packages: EngineeringEngineering (R0)

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