Proactive human search for the designated person with prior context information in an undiscovered environments

Sangseok Yun, Bongjin Jun, Daijin Kim, Jaewoong Kim, Sukhan Lee, Mun Taek Choi, Munsang Kim, Joong Tae Park, Jae Bok Song

Research output: Contribution to journalReview article

2 Citations (Scopus)

Abstract

This paper describes a scheme for proactive human search for a designated person in an undiscovered indoor environment without human operation or intervention. In designing and developing human identification with prior information a new approach that is robust to illumination and distance variations in the indoor environment is proposed. In addition, a substantial exploration method with an octree structure, suitable for path planning in an office configuration, is employed. All these functionalities are integrated in a message- and component-based architecture for the efficient integration and control of the system. This approach is demonstrated by succeeding human search in the challenging robot mission of the 2009 Robot Grand Challenge Contest.

Original languageEnglish
Pages (from-to)79-99
Number of pages21
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Volume67
Issue number2
DOIs
Publication statusPublished - 2012 Jul 1

Keywords

  • CIROS
  • Intelligent robot software architecture (IRSA)
  • Proactive human search
  • Robot grand challenge

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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