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Adaptive robot speed control by considering map and motion uncertainty

Jun Miura, Yoshiro Negishi, Yoshiaki Shirai
2006 Robotics and Autonomous Systems  
This paper describes an adaptive robot speed control method for safe and efficient navigation in unknown environments. Safety and efficiency are usually in a trade-off relationship.  ...  To adopt this strategy, we define criteria for judging whether a speed is safe for the above two cases.  ...  A certain level of accuracy in robot localization is indispensable for a safe navigation.  ... 
doi:10.1016/j.robot.2005.09.020 fatcat:vulvqaiubffnjcbygrp6zrg4k4

Characterizing the role of strategic disposition and orientation to risk in wayfinding

Thomas J. Pingel
2012 Transportation Research Part F: Traffic Psychology and Behaviour  
Factor analysis of a forty-item questionnaire isolated five questions that well-account for the strategic disposition of individuals.  ...  Although digital navigation systems are becoming ubiquitous, they generally only select routes based on relatively simple criteria (length and time) and fail to adequately consider the preferred strategy  ...  Additionally, the author wishes to thank Keith Clarke, Daniel Montello, Mary Hegarty, Martin Raubal and Reg Golledge for their very helpful advice on many aspects of the work, as well as to two anonymous  ... 
doi:10.1016/j.trf.2012.03.003 fatcat:p5occz4dd5hyvgktd25zjao5yy

Integrated Task and Motion Planning for Safe Legged Navigation in Partially Observable Environments [article]

Abdulaziz Shamsah, Jonas Warnke, Zhaoyuan Gu, Ye Zhao
2021 arXiv   pre-print
This study proposes a hierarchically integrated framework for safe task and motion planning (TAMP) of bipedal locomotion in a partially observable environment with dynamic obstacles and uneven terrain.  ...  The high-level task planner employs linear temporal logic (LTL) for a reactive game synthesis between the robot and its environment and provides a formal guarantee on navigation safety and task completion  ...  ACKNOWLEDGMENT The authors would like to express our gratefulness to Suda Bharadwaj and Ufuk Topcu for their discussions on belief abstraction, Yinan Li and Jun Liu for their assistance in the reachability  ... 
arXiv:2110.12097v2 fatcat:xzdier4yqnfo7ahjgapsv2sv5y

Augmented-Reality-Based Indoor Navigation: A Comparative Analysis of Handheld Devices Versus Google Glass

Umair Rehman, Shi Cao
2016 IEEE Transactions on Human-Machine Systems  
We conducted both a technical assessment study and a human factors study. The technical assessment established the feasibility and reliability of the system.  ...  We also found that both digital navigation aids were better than the paper map in terms of shorter navigation time and lower workload, but digital navigation aids resulted in worse route retention.  ...  They were instructed to arrive at the destination as quickly as possible with a reasonable and safe walking speed in the same way for all three navigation conditions.  ... 
doi:10.1109/thms.2016.2620106 fatcat:vvnnlie4abgylop3lhmokzawca

Fuzzy gaze control-based navigational assistance system for visually impaired people in a dynamic indoor environment

Seung-Beom Han, Deok-Hwa Kim, Jong-Hwan Kim
2015 2015 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)  
This paper proposes a navigational assistance system based on fuzzy integral-based gaze control for visually impaired people in a dynamic indoor environment.  ...  However, such as a cane and/or a dog are not enough to secure them from being collided with obstacles in a dynamic environment.  ...  It, however, has weaknesses that detects obstacles only on the ground and within in a short distance, and cannot tell any information except the existence of obstacles.  ... 
doi:10.1109/fuzz-ieee.2015.7337837 dblp:conf/fuzzIEEE/HanKK15 fatcat:27thpmhgdze2bepsrhcukghocm

Smart Pedestrian Network: An Integrated Conceptual Model for Improving Walkability [chapter]

Fernando Fonseca, Paulo Ribeiro, Mona Jabbari, Elena Petrova, George Papageorgiou, Elisa Conticelli, Simona Tondelli, Rui Ramos
2020 Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering  
For many decades, cities have been planned based on the needs of vehicle traffic, neglecting basic human needs for active mobility and the adverse effects of motorised traffic on the natural environment  ...  Thus, walking becomes an essential component of the transport and urban policies for achieving a more sustainable development process.  ...  The authors also acknowledge the national agencies for science, research and technology from Portugal, Italy, Austria and Cyprus for co-funding the project.  ... 
doi:10.1007/978-3-030-45293-3_10 fatcat:alifequyevbzzgqqdpxwl5kake

Smart Cane for Visually Impaired with Obstacle, Water Detection and GPS

Nur Maisarah Ahmad Nazri, Shukor Sanim Mohd Fauzi, Ray Adderley JM Gining, Tajul Rosli Razak, Muhammad Nabil Fikri Jamaluddin
2021 International Journal of Computing and Digital Systems  
Therefore, in this paper, we designed a smart cane by integrating it with an ultrasonic sensor to detect obstacles, water sensor for detecting the presence of water puddle, and GPS Module to monitor the  ...  Visually impaired people usually use the standard white cane or walking cane to assist them in walking. However, it is not adequate to ensure their safety when navigating in an unfamiliar area.  ...  The buzzer used the 'D1' pin on Node-MCU for the positive pin and 'D2' for the negative pin with two of the jumper wire. C.  ... 
doi:10.12785/ijcds/1001119 fatcat:bnww4gxjgrez5fuf4ixf7cxysq

Walking on inclines: how do desert ants monitor slope and step length?

Tobias Seidl, Ruediger Wehner
2008 Frontiers in Zoology  
This navigational strategy requires an egocentric monitoring of the foraging path by incrementally integrating direction, distance, and inclination of the path.  ...  During long-distance foraging in almost featureless habitats desert ants of the genus Cataglyphis employ path-integrating mechanisms (vector navigation).  ...  Furthermore we thank M.W. for his help during preliminary experiments on ant-kinematics performed in Zurich (2003) and for co-organizing our field station in Maharès, Tunisia (2004), both together with  ... 
doi:10.1186/1742-9994-5-8 pmid:18518946 pmcid:PMC2430559 fatcat:ytfffummpzfhvigu3ezjhlbdhy

High-speed navigators: Using more than what meets the eye

Francesca C. Fortenbaugh, John C. Hicks, Lei Hao, Kathleen A. Turano
2006 Journal of Vision  
Participants were classified into two groups, good and poor navigators, based on a cluster analysis of their individual mean latencies, walk times, and path efficiencies in the 10 deg condition.  ...  Using a goal-directed walking task and gaze-contingent displays, 14 participants with normal vision navigated within an immersive virtual forest during which each participant's field of view (FOV) was  ...  The trials were completed during the second block for the good navigator and during the third block for the poor navigator. One can walk fast but bump into obstacles along the route.  ... 
doi:10.1167/6.5.3 pmid:16881789 fatcat:emvhkgnyvvglfh5upibykgts74

Move the Object or Move Myself? Walking vs. Manipulation for the Examination of 3D Scientific Data

Wallace S. Lages, Doug A. Bowman
2018 Frontiers in ICT  
However, walking enabled higher performance for participants with low spatial ability and without significant game experience.  ...  Our results indicate that the relative performance of the interfaces depends on the spatial ability and game experience of the participants.  ...  ACKNOWLEDGMENTS The authors gratefully acknowledge funding support from the Immersive Sciences program in the Office of Naval Research and from the Brazilian National Council for Scientific and Technological  ... 
doi:10.3389/fict.2018.00015 fatcat:nc5u337w7vbyll6uoo74k76pv4

Naturalistic path integration ofCataglyphisdesert ants on an air-cushioned lightweight spherical treadmill

Hansjürgen Dahmen, Verena L. Wahl, Sarah E. Pfeffer, Hanspeter A. Mallot, Matthias Wittlinger
2017 Journal of Experimental Biology  
In this account, we present the first evidence of naturalistic homing navigation on a spherical treadmill for two species of Cataglyphis desert ants.  ...  We were able to evaluate with good precision the walking speed and angular orientation at any time.  ...  We thank Ursula Seifert for her help in organising the field excursions and for editing the text, Andrea Wirmer for statistical advice and Dennis Grüninger, Elena Haugg, Mario Hildebrand and Stephanie  ... 
doi:10.1242/jeb.148213 pmid:28202651 fatcat:r5zcimcsl5b5rp7pqfmdu3icle

Reliable Ultrasonic Obstacle Recognition for Outdoor Blind Navigation

Apostolos Meliones, Costas Filios, Jairo Llorente
2022 Technologies  
The proposed algorithm can equip an orientation and navigation device that allows the blind person to walk safely autonomously outdoors.  ...  The smartphone application and the microelectronic external device will serve as a wearable that will help the safe outdoor navigation and guidance of blind people.  ...  Acknowledgments: The authors would like to specifically thank the Lighthouse for the Blind of Greece for their fruitful collaboration in the framework of the MANTO project.  ... 
doi:10.3390/technologies10030054 fatcat:ezdcptno2ngxrhqh273wb2z3n4

Robot Navigation Based on Human Trajectory Prediction and Multiple Travel Modes

Zhixian Chen, Chao Song, Yuanyuan Yang, Baoliang Zhao, Ying Hu, Shoubin Liu, Jianwei Zhang
2018 Applied Sciences  
For a mobile robot, navigation skills that are safe, efficient, and socially compliant in crowded, dynamic environments are essential.  ...  We have demonstrated the performance of our approach outperforms state-of-the-art approaches with public datasets, in low-density and simulated medium-density crowded scenarios.  ...  With the 0.75 m predicting displacement, the robot has a large enough distance to the pedestrian in his/her walking direction and leads to remarkable variations in the cost of local optimal trajectories  ... 
doi:10.3390/app8112205 fatcat:uw7laiiqpnebtep4y5vq6we3km

Development of Robust Behaviour Recognition for an at-Home Biomonitoring Robot with Assistance of Subject Localization and Enhanced Visual Tracking

Nevrez Imamoglu, Enrique Dorronzoro, Zhixuan Wei, Huangjun Shi, Masashi Sekine, José González, Dongyun Gu, Weidong Chen, Wenwei Yu
2014 The Scientific World Journal  
The proposed activity recognition algorithm was tested on different walking patterns with different subjects, and the results showed high recognition accuracy.  ...  Finally, the main objective of the system is to find out walking activities for different patterns for further analysis.  ...  Conflict of Interests The authors declare that there is no conflict of interests regarding the publication of this paper.  ... 
doi:10.1155/2014/280207 pmid:25587560 pmcid:PMC4283271 fatcat:eiqzgfwn2ncqra6z2dcrqlcrvq

A Review on Path Selection and Navigation Approaches Towards an Assisted Mobility of Visually Impaired People

2020 KSII Transactions on Internet and Information Systems  
Some things come easily to humans, one of them is the ability to navigate around.  ...  It is observed that the solution to problem is complex and computationally intensive and significant effort is required towards the development of richer and comfortable paths for safe and smooth navigation  ...  This is one of the major factors to influence the usability of any system or application, as depicted in the last column of the comparison table.  ... 
doi:10.3837/tiis.2020.08.007 fatcat:k3r6ceqxcbg7xkllthpox3ix3a
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