Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Minimalist mobile robotics: a colony-style architecture for an artificial creature
Minimalist mobile robotics: a colony-style architecture for an artificial creature
Qualitative navigation for mobile robots
Artificial Intelligence
The role of learning in autonomous robots
COLT '91 Proceedings of the fourth annual workshop on Computational learning theory
CVGIP: Image Understanding - Special issue on purposive, qualitative, active vision
The NURBS book
Sensors for mobile robots: theory and application
Sensors for mobile robots: theory and application
Learning metric-topological maps for indoor mobile robot navigation
Artificial Intelligence
Dervish: an office-navigating robot
Artificial intelligence and mobile robots
Artificial intelligence and mobile robots
Robust Monte Carlo localization for mobile robots
Artificial Intelligence
Vision for Mobile Robot Navigation: A Survey
IEEE Transactions on Pattern Analysis and Machine Intelligence
An Behavior-based Robotics
Robot Motion Planning
Genetic Algorithms in Search, Optimization and Machine Learning
Genetic Algorithms in Search, Optimization and Machine Learning
Machine Learning
Navigating Mobile Robots: Systems and Techniques
Navigating Mobile Robots: Systems and Techniques
Interfacing users with very severe mobility restrictions with a semi-automatically guided wheelchair
ACM SIGCAPH Computers and the Physically Handicapped
Active Perception
Directed Sonar Sensing for Mobile Robot Navigation
Directed Sonar Sensing for Mobile Robot Navigation
Mobile Interface for a Smart Wheelchair
Mobile HCI '02 Proceedings of the 4th International Symposium on Mobile Human-Computer Interaction
Wheelesley: A Robotic Wheelchair System: Indoor Navigation and User Interface
Assistive Technology and Artificial Intelligence, Applications in Robotics, User Interfaces and Natural Language Processing
Performance Comparison of Landmark Recognition Systems for Navigating Mobile Robots
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Exploring artificial intelligence in the new millennium
A Robot That Walks; Emergent Behaviors from a Carefully Evolved Network
A Robot That Walks; Emergent Behaviors from a Carefully Evolved Network
Hierarchical Path Search with Partial Materialization of Costs for a Smart Wheelchair
Journal of Intelligent and Robotic Systems
A robotic wayfinding system for the visually impaired
IAAI'04 Proceedings of the 16th conference on Innovative applications of artifical intelligence
A system for induction of oblique decision trees
Journal of Artificial Intelligence Research
The dynamics of action selection
IJCAI'89 Proceedings of the 11th international joint conference on Artificial intelligence - Volume 2
Probabilistic robot navigation in partially observable environments
IJCAI'95 Proceedings of the 14th international joint conference on Artificial intelligence - Volume 2
Polly: a vision-based artificial agent
AAAI'93 Proceedings of the eleventh national conference on Artificial intelligence
Decentralized sensor fusion with distributed particle filters
UAI'03 Proceedings of the Nineteenth conference on Uncertainty in Artificial Intelligence
Users with Disabilities: Maximum Control with Minimum Effort
AMDO '08 Proceedings of the 5th international conference on Articulated Motion and Deformable Objects
Visual Navigation for Mobile Robots: A Survey
Journal of Intelligent and Robotic Systems
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Ambience provides large amounts of heterogeneous data that can be used for diverse purposes, including indoor navigation in semi-structured environments. Indoor navigation is a very active research field due to its large number of possible applications: mobile guides for museums or other public buildings [36], office post delivering, assistance to people with disabilities and elderly people [34], etc. The idea of using indoor navigation techniques to develop mobile guides is not new. Among the pioneers, Polly, a mobile robot acting as a guide for the MIT AI Lab [35], and Minerva, an autonomous guide developed for the National Museum of American History in Washington [69], are well known. A particular case are mobile guides for blind people which experienced a notable interest in the last years [40]. Another interesting application field is devoted to smart wheelchairs, which are provided with navigation aids for people with severe motor restrictions [64,75]. All these applications share the need for a navigation system, even if its implementation may be different for each of them. For instance, the navigation system may act over the power stage of a smart wheelchair or may communicate with the user interface of a mobile navigation assistant in a museum. Evidently the implication of the user is different in each system, leading to diverse levels of human-system integration. Therefore, there are two key issues in the design of mobile guides: navigation strategy and user interface. Even if most of the mentioned systems use maps for navigation [36], there exist alternative, behavior-based systems, that use a procedural way to represent knowledge. Therefore, the selection of the approach not only conditions the navigational architecture but also the design of the human interface. This chapter analyzes alternatives for navigation models and focuses on how properties of the environment can be intelligently exploited for indoor navigation tasks. In addition, it describes, in detail, an illustrative example based on behavior decomposition. Its navigational characteristics and influence upon the human interface design are also discussed.