Date of Original Version

5-2007

Type

Technical Report

Rights Management

All Rights Reserved

Abstract or Description

We have developed a mobile platform based on the principlesof modularity and rapid development for studies robotics. Through behavior-based robot control and a unified sensor/actuator architecture we abstract away the details of communicating with the physical hardware, allowing the behavior writer to focus on and more easily develop higher-level controls. Adding to the capabilities of our robot, we have implemented a localization algorithm based on likelihood fields using a laser. Finally, we demonstrate the utility of the FeatureSet architecture in a multi-modal person following behavior which, in addition to fusing laser and vision data to track people, conditions possible tracks using voice feedback from the user.

Comments

CMU-RI-TR-07-16

Included in

Robotics Commons

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