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Recent Advances in Indoor Localization: A Survey on Theoretical Approaches and Applications

Ali Yassin, Youssef Nasser, Mariette Awad, Ahmed Al-Dubai, Ran Liu, Chau Yuen, Ronald Raulefs, Elias Aboutanios
2017 IEEE Communications Surveys and Tutorials  
In this paper, we survey different technologies and methodologies for indoor and outdoor localization with an emphasis on indoor methodologies and concepts.  ...  In outdoor scenarios, the mobile terminal position is obtained with high accuracy thanks to the Global Positioning System (GPS) or to the standalone cellular systems.  ...  Robotics Robotics is one of the main applications of indoor localization. Many researches and developments have been conducted for implementing mobile multi-robot systems applications.  ... 
doi:10.1109/comst.2016.2632427 fatcat:zmfbflpv3jhvtpf62qshzivciq

Distributed Multi-agent Bidding-Based Approach for the Collaborative Mapping of Unknown Indoor Environments by a Homogeneous Mobile Robot Team

Abdelfetah Hentout, Abderraouf Maoudj, Nesrine Kaid-youcef, Djamila Hebib, Brahim Bouzouia
2017 Journal of Intelligent Systems  
First, the scheme starts by assigning the most suitable robots to the different zones of the environment to be mapped based on a bidding strategy. Then, while a  ...  AbstractThis paper deals with the problem of the collaborative mapping of unknown indoor environments by a homogeneous mobile robot team.  ...  Acknowledgments: The authors would like to thank the anonymous reviewers for their valuable recommendations and comments on the paper, as they led to considerably improve its quality.  ... 
doi:10.1515/jisys-2017-0255 fatcat:rmhshg4orvbpva67jdxnwwec74

Intelligent behaviors for a convoy of indoor mobile robots operating in unknown environments

Nathan M. Farrington, Hoa G. Nguyen, Narek Pezeshkian, Douglas W. Gage
2004 Mobile Robots XVII  
These behaviors include various implementations of map building, localization, obstacle avoidance, object recognition, and navigation.  ...  The test system, developed by SSC San Diego, consists of ROBART III (a prototype security robot), serving as the master platform, and a convoy of four ActivMedia ® Pioneer 2-DX robots.  ...  We would like to acknowledge Chinh Nguyen for his incredible work on JMOCU and Composable FORCEnet. We would also like to thank Dionysus M.  ... 
doi:10.1117/12.571527 dblp:conf/mr/FarringtonNP02 fatcat:vprul26kwbhh5hhjbnwamdavxi

Simulation environment for mobile robots testing using ROS and Gazebo

Kenta Takaya, Toshinori Asai, Valeri Kroumov, Florentin Smarandache
2016 2016 20th International Conference on System Theory, Control and Computing (ICSTCC)  
In this paper we introduce a simulation environment for mobile robots based on ROS and Gazebo.  ...  In the process of development a control strategy for mobile robots, simulation is important for testing the software components, robot behavior and control algorithms in different surrounding environments  ...  That method has very good performance for indoor environments but the map building based on vSLAM does not work well for outdoor applications and it is almost impossible to render realistic 3D maps [39  ... 
doi:10.1109/icstcc.2016.7790647 fatcat:gd4daltgtrez5ljz46fnffqo5e

Textual Signs Reading for Indoor Semantic Map Construction

Basem Ibraheem, Abeer Hamdy, Nevien Darwish
2012 International Journal of Computer Applications  
Textual signs posted on the walls and room doors in indoor environments are environment features that could be easily identified by service robots.  ...  This paper is a continuous work of developing a framework for creating a semantic map for indoor environment using mobile robot [17] .  ...  Sign Labelling and correlation CONCLUSION AND FUTURE WORK Our goal is to build a semantic map for indoor environment using a mobile robot.  ... 
doi:10.5120/8459-2268 fatcat:7teqnksekzevndk7l32mkpfdn4

RETHINKING INDOOR LOCALIZATION SOLUTIONS TOWARDS THE FUTURE OF MOBILE LOCATION-BASED SERVICES

C. Guney
2017 ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
In this study, how can the current wireless location sensing systems be tailored and integrated for specific applications, like smart cities/grids/buildings/cars and IoT applications, in GNSS-deprived  ...  However, current wireless indoor positioning systems cannot satisfy the challenging needs of indoor location-aware applications.  ...  Since the ecosystem of indoor positioning systems are very large subject and indoor positioning opens up a market for many players, the following research topics are worth considering: • How to deploy  ... 
doi:10.5194/isprs-annals-iv-4-w4-235-2017 fatcat:rubhxt3jpzft5jh4avgzxk4vle

Transitioning unmanned ground vehicle research technologies

E. Biagtan Pacis, H. R. Everett, N. Farrington, G. Kogut, B. Sights, T. Kramer, M. Thompson, D. Bruemmer, D. Few, Grant R. Gerhart, Charles M. Shoemaker, Douglas W. Gage
2005 Unmanned Ground Vehicle Technology VII  
The Technology Transfer project employs a spiral development process to enhance the functionality and autonomy of mobile systems in the Joint Robotics Program (JRP) Robotic Systems Pool (RSP).  ...  This paper focuses on particular research areas, specifically collision avoidance, simultaneous localization and mapping (SLAM), and target-following, and describes the results of their combined integration  ...  the operator selecting a series data for the associated interior structure of waypoints on the Multi-robot Operator Control Unit (MOCU) 17 map (i.e., cave, bunker, building). display, based on recently  ... 
doi:10.1117/12.604116 fatcat:7kad4dekmne35otpg7poou3zqu

An adaptive localization system for outdoor/indoor navigation for autonomous robots

E. B. Pacis, B. Sights, G. Ahuja, G. Kogut, H. R. Everett, Grant R. Gerhart, Charles M. Shoemaker, Douglas W. Gage
2006 Unmanned Systems Technology VIII  
The methodologies compared include Markov localization, global positioning system, Kalman filtering, and fuzzy-logic.  ...  This paper describes efforts to fuse component technologies into a complete navigation system, allowing a robot to seamlessly transition between outdoor and indoor environments.  ...  to build a map of an unknown area while dynamically determining its own position in the growing map.  ... 
doi:10.1117/12.668520 fatcat:4iqbz375zvdn3ozegm2owusqki

An experiment on squad navigation of human and robots

L. Nomdedeu, J. Sales, E. Cervera, J. Alemany, R. Sebastia, J. Penders, V. Gazi
2008 2008 10th International Conference on Control, Automation, Robotics and Vision  
This paper presents an experiment with a set of robots -acting as a swarm-and one person. The aim of such robot-human squad is to explore an unmapped area indoors.  ...  The robots are provided with enough sensors to perform avoidance, and determine/estimate the distance to the human. Communication is one-way only, from robots to human.  ...  Based on this and other several arguments the Player / Stage 2 platform [15] has been chosen for simulation and HAL for robot development in Guardians.  ... 
doi:10.1109/icarcv.2008.4795694 dblp:conf/icarcv/NomdedeuSCASPG08 fatcat:xeolkz5afjauxnqqxdd3x7rdv4

Control and Navigation of Mobile Robots in Safety and Fire Protection

Juraj Uricek, Viera Poppeova, Vladimir Bulej, Jan Matik
2011 Communications - Scientific Letters of the University of Zilina  
On this platform the Player/Stage is running thus enabling the navigation of the robot through the corridors inside the buildings and also building its own map of environment.  ...  The higher layer of control system then does not have to use computing power on those tasks and can work, for example, on the path planning and map building.  ... 
doi:10.26552/com.c.2011.2.118-122 fatcat:4huldgn32vbdjpaqj3yotakn4u

Semantic map partitioning in indoor environments using regional analysis

Carlos Nieto-Granda, John G Rogers, Alexander J B Trevor, Henrik I Christensen
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Classification of spatial regions based on semantic information in an indoor environment enables robot tasks such as navigation or mobile manipulation to be spatially aware.  ...  The association of semantic labels with spatial regions is based on Human Augmented Mapping.  ...  Existing approaches for robot indoor navigation build an occupancy grid map using range data from its sensors.  ... 
doi:10.1109/iros.2010.5650575 dblp:conf/iros/Nieto-GrandaRTC10 fatcat:cafvnc4mnbd5tpqal47ztfwhjy

Mobile Robotic Issues for Urban Search and Rescue

Gurvinder S. Virk, Yiannis Gatsoulis, Mudassir Parack, Afsha Kherada
2008 IFAC Proceedings Volumes  
For the human-robot interaction aspects, key user-centric metrics are proposed and investigated to assess the effect on overall system performance.  ...  Prototype systems are designed, developed and presented. For the localisation aspects a cost effective infrared beacon based system is presented for 2D applications.  ...  localisation and mapping • Efficient and friendly human-robot interactions Each one of these issues is examined in turn, and a case study solution for each, based on the work of the authors, is presented  ... 
doi:10.3182/20080706-5-kr-1001.00526 fatcat:hwxriahdqfhrrljuegw7hlmpia

Towards Vision Based Navigation in Large Indoor Environments

Jaime Miro, Weizhen Zhou, Gamini Dissanayake
2006 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Using features extracted from the scale invariant feature transform (SIFT) and depth maps from a small vision system (SVS) stereo head, an extended Kalman filter (EKF) based SLAM algorithm, that allows  ...  , and in a robotics search and rescue arena of similar size.  ...  The state of the system x v (k) consists on the position and orientation of the vehicle together with the position of all landmarks.  ... 
doi:10.1109/iros.2006.282487 dblp:conf/iros/MiroZD06 fatcat:6yd65eqeujbvxlyjnw5mjuauji

Tracking and Modeling of Human Activity Using Laser Rangefinders

Anand Panangadan, Maja Matarić, Gaurav S. Sukhatme
2010 International Journal of Social Robotics  
We describe a system that uses laser rangefinders to track the positions of people in typical environments and then builds predictive models of the observed movement patterns and interactions between persons  ...  The assumption is that different activities will map to distinct probability distributions. Position tracks are first segmented and clustered into short sequences representing different activities.  ...  Acknowledgements The authors thank Helen Yan for developing the laser tracking system.  ... 
doi:10.1007/s12369-009-0043-1 fatcat:fntmtk5o3bg4znhfa4rzlbfmze

VIEW-FINDER: ROBOTICS ASSISTANCE TO FIRE-FIGHTING SERVICES

Y. BAUDOIN, D. DOROFTEI, G. DE CUBBER, S.A. BERRABAH, E. COLON, C. PINZON, A. MASLOWSKI, J. BEDKOWSKI, J. PENDERS
2009 Mobile Robotics  
The robots will be equipped with a wide array of chemical sensors, on-board cameras, Laser and other sensors to enhance scene understanding and reconstruction.  ...  The robots will be designed to navigate individually or cooperatively and to follow high-level instructions from the base station. The robots are off-theshelf units, consisting of wheeled robots.  ...  In both methods, the base frame for the global map is the robot position at instant t 0 .  ... 
doi:10.1142/9789814291279_0050 fatcat:cqsortfpszayba3uxohdss7sli
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