Sensor fusion in certainty grids for mobile robots
Sensor devices and systems for robotics
Frontier-based exploration using multiple robots
AGENTS '98 Proceedings of the second international conference on Autonomous agents
Stanley: The robot that won the DARPA Grand Challenge: Research Articles
Journal of Robotic Systems - Special Issue on the DARPA Grand Challenge, Part 2
Autonomous driving in urban environments: Boss and the Urban Challenge
Journal of Field Robotics - Special Issue on the 2007 DARPA Urban Challenge, Part I
Information retrieval system for human-robot communication: asking for directions
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Navigation through urban environments by visual perception and interaction
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Information retrieval system for human-robot communication: asking for directions
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
The autonomous city explorer project
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Navigation through urban environments by visual perception and interaction
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
System interdependence analysis for autonomous mobile robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Robots asking for directions: the willingness of passers-by to support robots
Proceedings of the 5th ACM/IEEE international conference on Human-robot interaction
System interdependence analysis for autonomous robots
International Journal of Robotics Research
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One of the greatest challenges nowadays in robotics is the advancement of robots from industrial tools to companions and helpers of humans, operating in natural, populated environments. In this respect, the Autonomous City Explorer (ACE) project aims to combine the research fields of autonomous mobile robot navigation and human robot interaction. A robot has been created that is capable of navigating in an unknown, highly populated, urban environment, based only on information extracted through interaction with passers-by and its local perception capabilities. This paper describes the algorithms and architecture that make up the navigation subsystem of ACE. More specifically, the algorithms used for Simultaneous Localization and Mapping (SLAM), path planning in dynamic environments and behavior selection are presented, as well as the system architecture that integrates them to a complete working system. Results from an extended field experiment, where the robot navigated autonomously through the downtown city area of Munich, are analyzed and show that the robot is capable of long-term, safe navigation in real-world settings.