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Self-localization in Large-Scale Environments for the Bremen Autonomous Wheelchair [chapter]

Axel Lankenau, Thomas Röfer, Bernd Krieg-Brückner
Spatial Cognition III  
This paper presents RouteLoc, a new approach for the absolute self-localization of mobile robots in structured large-scale environments.  ...  It scales up very well, and is thus suitable for self-localization of service robots in large-scale environments. The evaluation of RouteLoc is done with a pure metric approach as reference method.  ...  Acknowledgements The Deutsche Forschungsgemeinschaft supports this work through the priority program "Spatial Cognition".  ... 
doi:10.1007/3-540-45004-1_3 dblp:conf/spatialCognition/LankenauRK03 fatcat:2dxizaagknf4ho7ui5nhxnmdvu

A versatile and safe mobility assistant

A. Lankenau, T. Rofer
2001 IEEE robotics & automation magazine  
Acknowledgments The Deutsche Forschungsgemeinschaft supports this work through the priority program "Spatial Cognition."  ...  For instance, the Bremen Autonomous Wheelchair can only fire two of its 27 sensors simultaneously.  ...  Conclusion The Bremen Autonomous Wheelchair is designed as a mobility assistant for the handicapped.  ... 
doi:10.1109/100.924355 fatcat:kautjjthxvec7chutcttpm5ybq

Smart wheelchairs: A literature review

Richard C. Simpson
2005 Journal of rehabilitation research and development  
Wheelchair Component System, VAHM = Véhicule Autonome pour Handicapé Moteur.  ...  This article presents a summary of the current state of the art and directions for future research.  ...  Mobile robot self-localization in large-scale environments. Robotics and Automation.  ... 
doi:10.1682/jrrd.2004.08.0101 fatcat:l5bl2llo65cwpgaeems73fr2g4

A Comprehensive Review of Smart Wheelchairs: Past, Present and Future [article]

Jesse Leaman, Hung M. La
2017 arXiv   pre-print
Then we discuss in detail the SW and associated technological innovations with an emphasis on the most researched areas, generating the most interest for future research and development.  ...  We conclude with our vision for the future of SW research and how to best serve people with all types of disabilities.  ...  The main challenge for outdoor localization is that the global positioning systems (GPS) are not always reliable and robust, especially in tree covered environments.  ... 
arXiv:1704.04697v2 fatcat:j2y2b73cibbmlgqfqq4jfwxovi

Learning from demonstration for locally assistive mobility aids

James Poon, Yunduan Cui, Jaime Valls Miro, Takamitsu Matsubara
2019 International Journal of Intelligent Robotics and Applications  
Active assistive systems for mobility aids are largely restricted to environments mapped a-priori, while passive assistance primarily provides collision mitigation and other hand-crafted behaviors in the  ...  Experimental results in both simulation and on the University of Technology Sydney semi-autonomous wheelchair in settings not seen in training data show promise in assisting users of power mobility aids  ...  The authors also wish to express their sincere gratitude to all who took part in the experiments.  ... 
doi:10.1007/s41315-019-00096-1 fatcat:kehgyooffzfplghvfnfdx65vke

Particle filter-based position estimation in road networks using digital elevation models

C Mandel, T Laue
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Nowadays, the Global Positioning System (GPS) can be considered as being the de-facto standard for localization in road networks, delivering a reasonable precision at most places and being available through  ...  The approach is demonstrated in experiments of an electrical wheelchair driving through a small town.  ...  Platform & Sensor Equipment The Bremen Autonomous Wheelchair Rolland has been used as the experimental platform for this work.  ... 
doi:10.1109/iros.2010.5650755 dblp:conf/iros/MandelL10 fatcat:msi6hvwmvnfgzkgypzhgnqynlu

Learning to select distinctive landmarks for mobile robot navigation

Stephen Marsland, Ulrich Nehmzow, Tom Duckett
2001 Robotics and Autonomous Systems  
, of the robot's environment.  ...  In landmark-based navigation systems for mobile robots, sensory perceptions (e.g., laser or sonar scans) are used to identify the robot's current location or to construct internal representations, maps  ...  The work at Bremen University was carried out at the Bremen Institute of Safe Systems, in the group of Bernd Krieg-Brückner. We thank them for their hospitality and assistance.  ... 
doi:10.1016/s0921-8890(01)00162-2 fatcat:z56bpmm5k5dudemgqfh6wijnxq

Functional assessment and performance evaluation for assistive robotic manipulators: Literature review

Cheng-Shiu Chung, Hongwu Wang, Rory A. Cooper
2013 Journal of Spinal Cord Medicine (JSCM)  
, and Health (ICF) frameworks, in order to give the scope of current research and provide suggestions for future studies.  ...  Suggestions for the future studies include (1) standardized ADL tasks for the quantitative and qualitative evaluation of task efficiency and performance to build comparable measures between research groups  ...  The contents of this paper do not represent the views of the Department of Veterans Affairs or the United States Government.  ... 
doi:10.1179/2045772313y.0000000132 pmid:23820143 pmcid:PMC3758524 fatcat:gursjoe64belxmeeejuk23dylq

Visual detection of vehicles using a bag-of-features approach

Pedro Pinto, Ana Tome, Vitor Santos
2013 2013 13th International Conference on Autonomous Robot Systems  
works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.  ...  Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective  ...  ACKNOWLEDGMENTS The authors thank the valuable assistance of João Rodrigues in the development of the work reported in this paper.  ... 
doi:10.1109/robotica.2013.6623539 fatcat:ialsxj53yzfkfe5f766krtkkrq

Mobile robot self-localization in large-scale environments

A. Lankenau, T. Rofer
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)  
This paper presents a new approach for the absolute self-localization of a mobile robot in structured large-scale environments.  ...  As an example for a future application, the so-called Navigation Assistant of the Bremen Autonomous Wheelchair "Rolland" is discussed.  ...  ACKNOWLEDGEMENTS T HE Deutsche Forschungsgemeinschaft supports this work through the priority program "Spatial Cognition" and another research program.  ... 
doi:10.1109/robot.2002.1014732 dblp:conf/icra/LankenauR02 fatcat:6xpncfmmbfduhnyxaxzdxpyiui

Active and Democratic Citizenship Education and its Challenges in Social Studies Classrooms

Arife Figen Ersoy
2014 Eurasian Journal of Educational Research  
Methods: The collected data were statistically analyzed using SPSS 17.0 for Windows and LISREL 8.70 for Confirmatory Factor Analysis (CFA) and Structural Equation Modeling (SEM).  ...  Also, the study undertook the Maximum Likelihood Estimation to analyze the linear relationships among the three major variables.  ...  Another self-concept scale adapted for the Turkish context is the Efficacy Perception Scale for Children, first adapted by Önder (1997) into Turkish and with the name Self-Concept Scale for Small Children  ... 
doi:10.14689/ejer.2014.55.1 fatcat:ucqpxlbsfnhp3f32dsx2rvq2pi

Robotics - a helping hand?

K.J. Leiper
1985 TrAC. Trends in analytical chemistry  
The mission of the JRC-IPTS is to provide customer-driven support to the EU policymaking process by developing science-based responses to policy challenges that have both a socio-economic as well as a  ...  It must be self-healing (or autonomic) in case of failure. It has to be flexible and not unique to a particular robot or task.  ...  The report indicates that, while the EU robotics industry has in the past benefited from a strong automotive industry market, the market for conventional industrial robotics for large-scale automated manufacturing  ... 
doi:10.1016/0165-9936(85)85022-6 fatcat:ksjtg5o2wrdsnldxxvng4u26ta

Current Status, Challenges, and Possible Solutions of EEG-Based Brain-Computer Interface: A Comprehensive Review

Mamunur Rashid, Norizam Sulaiman, Anwar P. P. Abdul Majeed, Rabiu Muazu Musa, Ahmad Fakhri Ab. Nasir, Bifta Sama Bari, Sabira Khatun
2020 Frontiers in Neurorobotics  
It is worth noting that the application of BCI is not limited to medical applications, and hence, the research in this field has gained due attention.  ...  Moreover, the significant number of related publications over the past two decades further indicates the consistent improvements and breakthroughs that have been made in this particular field.  ...  ACKNOWLEDGMENTS The authors would like to acknowledge support from the Faculty of Electrical & Electronics Engineering Technology, Universiti Malaysia Pahang, Malaysia.  ... 
doi:10.3389/fnbot.2020.00025 pmid:32581758 pmcid:PMC7283463 fatcat:jhpwp2b3hffz5mazb7y6oj3saq

Unconventional human computer interfaces

Steffi Beckhaus, Ernst Kruijff
2004 Proceedings of the conference on SIGGRAPH 2004 course notes - GRAPH '04  
Prerequisites There is no need for prerequisites outside the interest in and basic knowledge of the usage and development of human-computer interfaces. ► Nervous System CNS: • brain • spinal cord PNS The  ...  are done in cerebral cortex.  ...  This technology can be beneficial for mobile / wearable computer applications especially in noisy environments.  ... 
doi:10.1145/1103900.1103918 dblp:conf/siggraph/BeckhausK04 fatcat:euqig7ehxjbmtb6rohjuvbot6a

Brain–Computer Interfaces for Human Augmentation

Davide Valeriani, Caterina Cinel, Riccardo Poli
2019 Brain Sciences  
The field of brain–computer interfaces (BCIs) has grown rapidly in the last few decades, allowing the development of ever faster and more reliable assistive technologies for converting brain activity into  ...  control signals for external devices for people with severe disabilities [...]  ...  Acknowledgments: This research was supported by the European Fund for Regional Development (EFRD-or EFRE in German) under Grants GE-1-1-047 and IT-1-2-001.  ... 
doi:10.3390/brainsci9020022 pmid:30682766 pmcid:PMC6406539 fatcat:4kjekrytqrcd7h4egrqlxsdbpq
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