DOCSLIB.ORG

Contextualized Robot Navigation David Vincent Lu Washington University in St

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
Contextualized Robot Navigation David Vincent Lu Washington University in St Washington University in St. Louis Washington University Open Scholarship Engineering and Applied Science Theses & McKelvey School of Engineering Dissertations Winter 12-15-2014 Contextualized Robot Navigation David Vincent Lu Washington University in St. Louis Follow this and additional works at: https://openscholarship.wustl.edu/eng_etds Part of the Engineering Commons Recommended Citation Lu, David Vincent, "Contextualized Robot Navigation" (2014). Engineering and Applied Science Theses & Dissertations. 62. https://openscholarship.wustl.edu/eng_etds/62 This Dissertation is brought to you for free and open access by the McKelvey School of Engineering at Washington University Open Scholarship. It has been accepted for inclusion in Engineering and Applied Science Theses & Dissertations by an authorized administrator of Washington University Open Scholarship. For more information, please contact [email protected]. WASHINGTON UNIVERSITY IN ST. LOUIS School of Engineering and Applied Science Department of Computer Science and Engineering Thesis Examination Committee: William D. Smart, Co-Chair Robert Pless, Co-Chair Chris Gill Caitlin Kelleher Bilge Mutlu Annamaria Pileggi Contextualized Robot Navigation by David V. Lu A dissertation presented to the Graduate School of Arts & Sciences of Washington University in partial fulfillment of the requirements for the degree of DOCTOR OF PHILOSOPHY December 2014 Saint Louis, Missouri c 2014, David V. Lu Contents List of Figures :::::::::::::::::::::::::::::::::::::: v List of Tables ::::::::::::::::::::::::::::::::::::::: vii Acknowledgments :::::::::::::::::::::::::::::::::::: viii Abstract :::::::::::::::::::::::::::::::::::::::::: x 1 Problem Statement ::::::::::::::::::::::::::::::::: 1 1.1 The Difficulty of Human-Robot Interaction . .1 1.2 \Robotic Motion" . .5 1.2.1 Prior Work . .6 1.3 Creating a Theory of Mind with Acting . .7 1.4 Robot Platforms . .9 1.4.1 The Robot Operating System - ROS . .9 1.4.2 Robots . 11 1.4.3 Navigation . 12 2 Robots in Theatre :::::::::::::::::::::::::::::::::: 14 2.1 Robot Theatre Work . 14 2.2 Physical Action . 16 2.3 The Chinese Room and The Stage . 17 2.4 The Ontology of Robot Theatre . 20 2.5 Practical Crossover . 23 3 Theatre as an Implicit Model ::::::::::::::::::::::::::: 26 3.1 Non-contextual Movement . 27 3.1.1 Viewpoints: A Definition . 27 3.1.2 The Robot Acting Partner . 30 3.1.3 Robots and Viewpoints . 31 3.1.4 Transition . 33 3.2 Contextualized Movement . 34 3.2.1 Composition of Forgiveness . 34 3.2.2 Performance . 37 3.2.3 Lessons . 38 3.3 Theatre as a Structure . 39 3.3.1 Three Act Structure for Navigation . 41 ii 3.4 Conclusions from Theatre . 43 3.4.1 Collaboration . 44 4 The State of Contextualized Navigation :::::::::::::::::::: 45 4.1 ROS Navigation . 46 4.1.1 Why ROS Navigation . 46 4.1.2 Algorithmic Design . 46 4.2 Navigation in Practice . 48 4.3 Related Work . 51 5 Towards More Efficient Navigation for Robots and Humans :::::::: 54 5.1 Improving Navigation Interactions . 54 5.2 System Implementation . 57 5.2.1 Lasers for People Detection . 57 5.2.2 Gaze Behavior . 57 5.2.3 Socially Aware Costmaps . 58 5.3 Experimental Design . 60 5.3.1 Procedure . 60 5.3.2 Hypotheses . 63 5.4 Results . 64 5.4.1 Statistical Analysis . 66 5.5 Discussion . 67 6 Tuning Cost Functions for Social Navigation ::::::::::::::::: 71 6.1 Problem Statement . 71 6.2 Mathematical Properties of Gaussian Obstacles . 73 6.2.1 Theory . 74 6.3 Results from Simulation . 76 6.4 Results using ROS Navigation . 78 6.5 Tuning in Two Dimensions . 79 6.6 Discussion . 80 7 Layered Costmaps for Context-Sensitive Navigation :::::::::::: 83 7.1 The Monolithic Costmap . 83 7.2 Layered Costmaps Data Structure and Update Algorithm . 86 7.3 Benefits . 89 7.4 Implementation . 90 7.4.1 Problems with the Previous Implementation . 91 7.4.2 Layered Costmap Implementation . 93 7.5 Discussion . 94 8 Layers in the Costmap ::::::::::::::::::::::::::::::: 96 8.1 Standard Layers . 96 iii 8.2 New Functionality . 100 8.3 Human-Robot Interaction Layers . 102 8.4 What There Are Not Layers For . 104 9 Engineering the Costmap ::::::::::::::::::::::::::::: 105 9.1 General Requirements . 105 9.1.1 What is a costmap? . 105 9.1.2 Data Sources . 108 9.2 Starting Point . 111 9.2.1 Original ROS Implementation . 111 9.2.2 Limitations of Implementation . 114 9.2.3 Extending the Approach . 116 9.3 Convergence on Layered Costmaps . 117 9.3.1 How the Values Change . 117 9.3.2 Which Values Change . 118 9.4 The Layered Costmap Pattern . 118 9.4.1 Implementation Changes . 119 10 Contextualized Navigation ::::::::::::::::::::::::::::: 121 References ::::::::::::::::::::::::::::::::::::::::: 123 Appendix A Debugging the Local Planner ::::::::::::::::::: 132 A.1 Related Work . 133 A.2 Local Planning . 133 A.2.1 DWA Planner . 134 A.3 Discontinuities . 136 A.3.1 Continuous Obstacle Checking Problem . 136 A.3.2 The End Path Problem . 137 A.4 Wrap Up . 139 iv List of Figures 1.1 The Uncanny Valley . .3 1.2 Primary Robot Platforms . 12 2.1 The Ontology of Robot Theatre . 21 3.1 Performances with Human Actors and Robot Actor . 37 4.1 Structure of Dual Costmap Navigation Algorithm . 47 4.2 Dual Costmap Algorithm in Practice . 49 4.3 Inflation Cost Function . 50 5.1 An Example of Standard vs. Social Navigation . 56 5.2 Three Paths with Three Different Costmaps . 59 5.3 Map of office where experiment was held. Experimenter sat in Room A, and participants traveled from Room A to Room C. The robot moved along the hall, occasionally stopping at Room B. The hallway is 17 meters long and approximately 1.5 meters wide. 61 5.4 Human Speed in User Study . 65 5.5 Relative Speeds in User Study . 65 6.1 Types of Paths Around Gaussian Obstacles . 73 6.2 Relative Cost of Paths for Different P=A ratios . 76 (a) P=A = pπ=2e ............................... 76 (b) P=A = 0:57 ................................. 76 (c) P=A < 0:57 ................................. 76 (d) P =0 .................................... 76 6.3 Heatmaps for Path Distances . 77 6.4 Results using ROS Navigation . 79 6.5 Tuning Costmaps in Confined Spaces . 81 7.1 Overlapping Costmap Costs . 85 7.2 Layered Costmap Update Algorithm . 87 8.1 Static Map Layer . 97 8.2 Obstacles Layer . ..
Load more

Recommended publications
  • Robotics Laboratory List
    Robotics List (ロボット技術関連コースのある大学） Robotics List by University Degree sought English Undergraduate / Graduate Admissions Office No. University Department Professional Keywords Application Deadline Degree in Lab links Schools / Institutes or others Website Bachelor Master’s Doctoral English Admissions Master's English Graduate School of Science and Department of Mechanical http://www.se.chiba- Robotics, Dexterous Doctoral：June and December ○ http://www.em.eng.chiba- 1 Chiba University ○ ○ ○ Engineering Engineering u.jp/en/ Manipulation, Visual Recognition Master's：June (Doctoral only) u.jp/~namiki/index-e.html Laboratory Innovative Therapeutic Engineering directed by Prof. Graduate School of Science and Department of Medical http://www.tms.chiba- Doctoral：June and December ○ 1 Chiba University ○ ○ Surgical Robotics ○ Ryoichi Nakamura Engineering Engineering u.jp/english/index.html Master's：June (Doctoral only) http://www.cfme.chiba- u.jp/~nakamura/ Micro Electro Mechanical Systems, Micro Sensors, Micro Micro System Laboratory (Dohi http://global.chuo- Graduate School of Science and Coil, Magnetic Resonance ○ ○ Lab.) 2 Chuo University Precision Mechanics u.ac.jp/english/admissio ○ ○ October Engineering Imaging, Blood Pressure (Doctoral only) (Doctoral only) http://www.msl.mech.chuo-u.ac.jp/ ns/ Measurement, Arterial Tonometry (Japanese only) Method Assistive Robotics, Human-Robot Communication, Human-Robot Human-Systems Laboratory http://global.chuo- Graduate School of Science and Collaboration, Ambient ○ http://www.mech.chuo- 2 Chuo University
    [Show full text]
  • Design and Control of a Large Modular Robot Hexapod
    Design and Control of a Large Modular Robot Hexapod Matt Martone CMU-RI-TR-19-79 November 22, 2019 The Robotics Institute School of Computer Science Carnegie Mellon University Pittsburgh, PA Thesis Committee: Howie Choset, chair Matt Travers Aaron Johnson Julian Whitman Submitted in partial fulfillment of the requirements for the degree of Master of Science in Robotics. Copyright © 2019 Matt Martone. All rights reserved. To all my mentors: past and future iv Abstract Legged robotic systems have made great strides in recent years, but unlike wheeled robots, limbed locomotion does not scale well. Long legs demand huge torques, driving up actuator size and onboard battery mass. This relationship results in massive structures that lack the safety, portabil- ity, and controllability of their smaller limbed counterparts. Innovative transmission design paired with unconventional controller paradigms are the keys to breaking this trend. The Titan 6 project endeavors to build a set of self-sufficient modular joints unified by a novel control architecture to create a spiderlike robot with two-meter legs that is robust, field- repairable, and an order of magnitude lighter than similarly sized systems. This thesis explores how we transformed desired behaviors into a set of workable design constraints, discusses our prototypes in the context of the project and the field, describes how our controller leverages compliance to improve stability, and delves into the electromechanical designs for these modular actuators that enable Titan 6 to be both light and strong. v vi Acknowledgments This work was made possible by a huge group of people who taught and supported me throughout my graduate studies and my time at Carnegie Mellon as a whole.
    [Show full text]
  • New Method for Robotic Systems Architecture
    NEW METHOD FOR ROBOTIC SYSTEMS ARCHITECTURE ANALYSIS, MODELING, AND DESIGN By LU LI Submitted in partial fulfillment of the requirements For the degree of Master of Science Thesis Advisor: Dr. Roger Quinn Department of Mechanical and Aerospace Engineering CASE WESTERN RESERVE UNIVERSITY August 2019 CASE WESTERN RESERVE UNIVERSITY SCHOOL OF GRADUATE STUDIES We hereby approve the thesis/dissertation of Lu Li candidate for the degree of Master of Science. Committee Chair Dr. Roger Quinn Committee Member Dr. Musa Audu Committee Member Dr. Richard Bachmann Date of Defense July 5, 2019 *We also certify that written approval has been obtained for any proprietary material contained therein. ii Table of Contents Table of Contents ................................................................................................................................................ i List of Tables ....................................................................................................................................................... ii List of Figures .................................................................................................................................................... iii Copyright page .................................................................................................................................................. iv Preface ..................................................................................................................................................................... v Acknowledgements
    [Show full text]
  • Hedda Gabler and Other Plays Free Download
    HEDDA GABLER AND OTHER PLAYS FREE DOWNLOAD Henrik Ibsen,Una Mary Ellis-Fermor | 368 pages | 01 Dec 1988 | Penguin Books Ltd | 9780140440164 | English | London, United Kingdom Hedda Gabler and Other Plays Dante Alighieri. The idea of death was so romantic to her, but to put it into simple words I think she just was bored and depressed with life in general and wanted "out. Hedda's married name is Hedda Tesman; Gabler is her maiden name. Sign in. Economy International Shipping. Tony Award-winning director Ivo van Hove made his National Theatre debut in London with a period-less production of Ibsen's masterpiece. Ibsen himself was in attendance, although he remained backstage. An Enemy of the People. About Henrik Ibsen. Retrieved 2 March Judge Brack brings gossip from town, most notably that Ejlert is quite a success and may be poised to take the position at the university that Tesman is counting on getting himself. The original play Heddatron by Elizabeth Meriwether b. Brack's aim is to pressurise Hedda into accepting him as her lover, something that she is unwilling to do because she doesn't want anyone to have power over her. Retrieved 5 November By using an unnaturally small cast, Ibsen draws immaculate attention to the significance and personality of each and every character and how Hedda's bitterness and perversion leads to disastrous consequences for the entire family. The Two Gentlemen of Verona. Rider Haggard. Search within store. Seller assumes all responsibility for this listing. Paperback —. View Product. And once you get a feel for the large cast, the scope of the play is very exciting.
    [Show full text]
  • KANYOK, NATHAN J., MS, December 2019 COMPUTER SCIENCE
    KANYOK, NATHAN J., M.S., December 2019 COMPUTER SCIENCE SITUATIONAL AWARENESS MONITORING FOR HUMANS-IN-THE-LOOP OF TELEPRES- ENCE ROBOTIC SYSTEMS (80 pages) Thesis Advisor: Dr. Jong-Hoon Kim Autonomous automobiles are expected to be introduced in increasingly complex increments until the system is able to navigate without human interaction. However, humanity is uncomfortable with relying on algorithms to make security critical decisions, which often have moral dimensions. Many robotic systems keep humans in the decision making loop due to their unsurpassed ability to perceive contextual information in ways we find relevant. It is likely that we will see transportation systems with no direct human supervision necessary, but these systems do not address our worry about moral decisions. Until we are able to embed moral agency in digital systems, human actors will be the only agents capable of making decisions with security-critical and moral components. Additionally, in order for a human to be in the position that we can have confidence in their decision, they must be situationally aware of the environment in which the decision will be made. Virtual reality as a medium can achieve this by allowing a person to be telepresent elsewhere. A telepresence dispatch system for autonomous transportation vehicles is proposed that places emphasis on situational awareness so that humans can properly be in the decision making loop. Pre-trial, in-trial, and post-trial metrics are gathered that emphasize human health and monitor situational awareness through traditional and novel approaches. SITUATIONAL AWARENESS MONITORING FOR HUMANS-IN-THE-LOOP OF TELEPRESENCE ROBOTIC SYSTEMS A thesis submitted to Kent State University in partial fulfillment of the requirements for the degree of Master of Science by Nathan J.
    [Show full text]
  • Insect-Computer Hybrid System for Autonomous Search and Rescue Mission
    Insect-Computer Hybrid System for Autonomous Search and Rescue Mission Hirotaka Sato ( [email protected] ) Nanyang Technological University P. Thanh Tran-Ngoc Nanyang Technological University Le Duc Long Nanyang Technological University Bing Sheng Chong Nanyang Technological University H. Duoc Nguyen Nanyang Technological University V. Than Dung Nanyang Technological University Feng Cao Nanyang Technological University Yao Li Harbin Institute of Technology Kazuki Kai Nanyang Technological University Jia Hui Gan Nanyang Technological University T. Thang Vo-Doan University of Freiburg T. Luan Nguyen University of Leeds Physical Sciences - Article Keywords: Disaster-hit Areas, Power Consumption, Locomotion Computation Load, Obstacle-avoidance System, Navigation Control Algorithm, Human Presence Detection Posted Date: June 12th, 2021 DOI: https://doi.org/10.21203/rs.3.rs-598481/v1 License: This work is licensed under a Creative Commons Attribution 4.0 International License. Read Full License Insect-Computer Hybrid System for Autonomous Search and Rescue Mission P. Thanh Tran-Ngoc1, D. Long Le1, Bing Sheng Chong1, H. Duoc Nguyen1, V. Than Dung1, Feng Cao1, Yao Li2, Kazuki Kai1, Jia Hui Gan1, T. Thang Vo-Doan3, T. Luan Nguyen4, and Hirotaka Sato1* 1School of Mechanical & Aerospace Engineering, Nanyang Technological University; 50 Nanyang Avenue, 639798, Singapore 2School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen; University Town, Shenzhen, 518055, China 3University of Freiburg; Hauptstrasse. 1, Freiburg, 79104, Germany 4University of Leeds; Woodhouse, Leeds LS2 9JT, United Kingdom *Corresponding author. Email: [email protected] Abstract: There is still a long way to go before artificial mini robots are really used for search and rescue missions in disaster-hit areas due to hindrance in power consumption, computation load of the locomotion, and obstacle-avoidance system.
    [Show full text]
  • Arxiv:1606.05830V4
    This paper has been accepted for publication in IEEE Transactions on Robotics. DOI: 10.1109/TRO.2016.2624754 IEEE Explore: http://ieeexplore.ieee.org/document/7747236/ Please cite the paper as: C. Cadena and L. Carlone and H. Carrillo and Y. Latif and D. Scaramuzza and J. Neira and I. Reid and J.J. Leonard, “Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age”, in IEEE Transactions on Robotics 32 (6) pp 1309-1332, 2016 bibtex: @articlefCadena16tro-SLAMfuture, title = fPast, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Ageg, author = fC. Cadena and L. Carlone and H. Carrillo and Y. Latif and D. Scaramuzza and J. Neira and I. Reid and J.J. Leonardg, journal = ffIEEE Transactions on Roboticsgg, year = f2016g, number = f6g, pages = f1309–1332g, volume = f32g g arXiv:1606.05830v4 [cs.RO] 30 Jan 2017 1 Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age Cesar Cadena, Luca Carlone, Henry Carrillo, Yasir Latif, Davide Scaramuzza, Jose´ Neira, Ian Reid, John J. Leonard Abstract—Simultaneous Localization And Mapping (SLAM) I. INTRODUCTION consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot LAM comprises the simultaneous estimation of the state moving within it. The SLAM community has made astonishing S of a robot equipped with on-board sensors, and the con- progress over the last 30 years, enabling large-scale real-world struction of a model (the map) of the environment that the applications, and witnessing a steady transition of this technology to industry.
    [Show full text]
  • Beyond Character a Post/Humanist Approach to Modern Theatre Louise Emma Lepage Royal Holloway College, University of London
    Beyond Character A Post/Humanist Approach to Modern Theatre Louise Emma LePage Royal Holloway College, University of London Submitted for the degree of Doctor of Philosophy 2012 1 Declaration of Authorship I, Louise Emma LePage, hereby declare that this thesis and the work presented in it is entirely my own. Where I have consulted the work of others, this is always clearly stated. Signed: Louise LePage Date: 19th December 2011 2 Abstract Beyond Character: A Post/Humanist Approach to Modern Theatre The thesis explores what it means to be human; specifically, what characters in drama and theatre reveal about what it means to be human. It also explores what it means to talk about dramatic character; specifically, what the human’s various forms reveal about dramatic character and how such forms interact with critical approaches to character. The thesis, thus, has a dual focus but the human and dramatic character are, in the context of my project, importantly, entwined and mutually enlightening. One of the aims of this thesis is to rehabilitate dramatic character. In doing so, it works to rehabilitate humanist subjectivity, too, albeit of a sort that is modified by hybrid structures of being and identity which are informed by posthumanist discourse. Such a structure, I argue, enables humans to be conceived simultaneously as creators and creations. I name this structure post/humanist. The first three chapters consist of theoretically engaged discussions which present the post/humanist framework underpinning this thesis’s arguments for identity, subjectivity, and modern dramatic character. Chapter One claims it is a mistake to view the modern human being in exclusively liberal humanist terms and employs Donna Haraway’s cyborg to reveal and argue for its indeterminate post/humanist form.
    [Show full text]
  • A Novel SLAM Quality Evaluation Method
    DEGREE PROJECT IN COMPUTER SCIENCE AND ENGINEERING, SECOND CYCLE, 30 CREDITS STOCKHOLM, SWEDEN 2019 A Novel SLAM Quality Evaluation Method FELIX CAESAR KTH ROYAL INSTITUTE OF TECHNOLOGY SCHOOL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCE A Novel SLAM Quality Evaluation Method FELIX CAESAR Master’s in System, Control and Robotics Date: July 1, 2019 Supervisor: Jana Tumova Examiner: John Folkesson School of Electrical Engineering and Computer Science Host company: ÅF Swedish title: En ny metod för kvalitetsbedömning av SLAM iii Abstract Autonomous vehicles have grown into a hot topic in both research and indus- try. For a vehicle to be able to run autonomously, it needs several different types of systems to function properly. One of the most important of them is simultaneous localization and mapping (SLAM). It is used for estimating the pose of the vehicle and building a map of the environment around it based on sensor readings. In this thesis we have developed an novel approach to mea- sure and evaluate the quality of a landmark-based SLAM algorithm in a static environment. The error measurement evaluation is a multi-error function and consists of the following error types: average pose error, maximum pose error, number of false negatives, number of false positives and an error relating to the distance when landmarks are added into the map. The error function can be tailored towards specific applications by settings different weights for each error. A small research concept car with several different sensors and an outside tracking system was used to create several datasets. The datasets include three different map layouts and three different power settings on the car’s engine to create a large variability in the datasets.
    [Show full text]
  • Robotics 2020 Multi-Annual Roadmap
    Robotics 2020 Multi-Annual Roadmap For Robotics in Europe Call 2 ICT24 (2015) – Horizon 2020 Release B 06/02/2015 Rev A: Initial release for Comment. Rev B: Final Release for Call Contents 1. Introduction ........................................................................................................... 1106H 1.1 MAR Content .............................................................................................................................. 2107H 1.2 Reading the Roadmap ............................................................................................................ 3108H 1.2.2. Why read this document? .................................................................................................................. 3109H 1.3 Understanding the MAR ........................................................................................................ 5110H 1.3.1. MAR Background ................................................................................................................................... 5111H 1.3.2. Structure of the MAR ........................................................................................................................... 5112H 1.3.3. Technical Progression in the MAR ................................................................................................. 7113H 1.3.4. Use of the MAR in Proposals ............................................................................................................. 8114H 1.3.5. Step Changes and TRLs ......................................................................................................................
    [Show full text]
  • DEUS EX MACHINA Towards an Aesthetics of Autonomous and Semi-Autonomous Machines by ELIZABETH ANN JOCHUM B.A., Wellesley College, 2001
    DEUS EX MACHINA Towards an Aesthetics of Autonomous and Semi-Autonomous Machines by ELIZABETH ANN JOCHUM B.A., Wellesley College, 2001 M.A., University of Colorado, 2007 A thesis submitted to the Faculty of the Graduate School of the University of Colorado in partial fulfillment of the requirement for the degree of Doctor of Philosophy Department of Theatre and Dance 2013 This thesis entitled: Deus Ex Machina: Towards an Aesthetics of Autonomous and Semi-Autonomous Machines written by Elizabeth Ann Jochum has been approved for the Department of Theatre and Dance Professor Oliver Gerland III Professor Todd Murphey Date The final copy of this thesis has been examined by the signatories, and we Find that both the content and the form meet acceptable presentation standards Of scholarly work in the above mentioned discipline. iii Jochum, Elizabeth Ann (Ph.D., Theatre, Department of Theatre and Dance) Deus ex Machina: Towards an Aesthetics of Autonomous and Semi-Autonomous Machines Thesis directed by Associate Professor Oliver Gerland III Robots and puppets are linked by a common human impulse: the desire to give life to nonliving objects through the animation of material forms. Like puppets, robots are technological objects capable of revealing aspects of the human experience and have demonstrated the ability to provoke the suspension of disbelief and evoke agency. While the role of puppets and automata in theatre history is well established (Segel 1995, Jurkowski 1996, Reilly 2011), the study of robots in theatre performance is largely unexamined. Citing the presence of autonomous and semi- autonomous machines in live performance and technological developments that result in increasingly responsive and interactive robots, I argue that these technological players warrant critical investigation and study of their methods of representation.
    [Show full text]
  • A Taxonomy for Mobile Robots: Types, Applications, Capabilities, Implementations, Requirements, and Challenges
    robotics Article A Taxonomy for Mobile Robots: Types, Applications, Capabilities, Implementations, Requirements, and Challenges Uwe Jahn 1,* , Daniel Heß 1, Merlin Stampa 1 , Andreas Sutorma 2 , Christof Röhrig 1, Peter Schulz 3 and Carsten Wolff 1 1 IDiAL Institute, Dortmund University of Applied Science and Arts, Otto-Hahn-Str. 23, 44227 Dortmund, Germany; [email protected] (D.H.); [email protected] (M.S.); [email protected] (C.R.); [email protected] (C.W.) 2 Faculty of Information Technology, Dortmund University of Applied Science and Arts, Sonnenstraße 96, 44139 Dortmund, Germany; [email protected] 3 Faculty of Engineering and Computer Science, Hamburg University of Applied Sciences, 20099 Hamburg, Germany; [email protected] * Correspondence: [email protected]; Tel.: +49-231-9112-9661 Received: 30 October 2020; Accepted: 11 December 2020; Published: 15 December 2020 Abstract: Mobile robotics is a widespread field of research, whose differentiation from general robotics is often based only on the ability to move. However, mobile robots need unique capabilities, such as the function of navigation. Also, there are limiting factors, such as the typically limited energy, which must be considered when developing a mobile robot. This article deals with the definition of an archetypal robot, which is represented in the form of a taxonomy. Types and fields of application are defined. A systematic literature review is carried out for the definition of typical capabilities and implementations, where reference systems, textbooks, and literature references are considered. Keywords: robotics; mobile robot; taxonomy; requirements; challenges; capabilities; implementations; literature review; survey 1.
    [Show full text]