CONDENSATION—Conditional Density Propagation forVisual Tracking
International Journal of Computer Vision
Robust Monte Carlo localization for mobile robots
Artificial Intelligence
Architectural Concepts of a Semi-autonomous Wheelchair
Journal of Intelligent and Robotic Systems
Contour Tracking by Stochastic Propagation of Conditional Density
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Developing Intelligent Wheelchairs for the Handicapped
Assistive Technology and Artificial Intelligence, Applications in Robotics, User Interfaces and Natural Language Processing
Global Path Planning for Autonomous Qualitative Navigation
ICTAI '96 Proceedings of the 8th International Conference on Tools with Artificial Intelligence
Autonomous, vision-based, pivoting wheelchair with obstacle detection capability
Autonomous, vision-based, pivoting wheelchair with obstacle detection capability
Journal of Artificial Intelligence Research
Integrating grid-based and topological maps for mobile robot navigation
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
A multilevel relaxation algorithm for simultaneous localization and mapping
IEEE Transactions on Robotics
Map-based navigation in mobile robots
Cognitive Systems Research
Map-based navigation in mobile robots
Cognitive Systems Research
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In the few past decades, several international researchers have worked to develop intelligent wheelchairs for the people with reduced mobility. For many of these projects, the structured set of commands is based on a sensor-based command. Many types of commands are available but the final decision is to be made by the user. A former work established a behaviour-based multi-agent form of control ensuring that the user selects the best option for him/her in relation to his/her preferences or requirements. This type of command aims at "merging" this user and his/her machine--a kind of symbiotic relationship making the machine more amenable and the command more effective. In this contribution, the approach is based on a curve matching procedure to provide comprehensive assistance to the user. This new agent, using a modelization of the paths that are most frequently used, assists the user during navigation by proposing the direction to be taken when the path has been recognized. This approach will spare the user the effort of determining a new direction--which might be a major benefit in the case of severe disabilities. The approach considered uses particle filtering to implement the recognition of the most frequent paths according to a topological map of the environment.