E&CSE Research Seminar, Wednesday 18 - 04 - 2007

Abstract:

For robots to serve people in human-centrically designed spaces, such as homes, hospitals, and schools, they must demonstrate a high degree of human-robot interaction in both spatial and transactional intelligence. This involves integration of diverse sources of information to determine assistive actions in task related domains.

This part of the project aims to develop an effective real-time navigation system utilising a combination of different types of sensors in fusion of both spatial and topological domain environment. Unknown obstacles detection and collision avoidance will be performed by applying probabilistic Occupancy Grid model and dynamically updating Distance Transforms to provide an effective path planning algorithms to reach the goal. And, for fast and smooth manipulation of simple household objects in the environment, the project aims to implement a robust hand-eye coordination system based on hybrid visual servoing intelligent models.