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Authors: Pinky Thakkar and Leonard Wesley

Affiliation: San Jose State University, United States

Keyword(s): Autonomous mobile robots, Herding, Autonomous human assistance.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Human-Robots Interfaces ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: In this paper, we describe work that begins to address some of the issues related to developing an autonomous mobile robotic capability to assist humans with herding animals. A novel aspect of this work is the development of a capability to convey instructions to the robot via movements of a “toy human.” In this work, no other explicit form of communication from the human to the robot is required. Furthermore, the robot is able detect if the human is absent or is unable to herd, and to herd the animal autonomously if required. We developed a herding framework that is based on low stress herding techniques. The robot uses a pan-tilt-zoom camera and a laser ranging sensor to track the human and interpret the human’s movements. We conduct two sets of experiments that demonstrate autonomous and co-operative herding behaviour of the robot. We conclude by presenting experimental results that suggest our approach to developing a service robot with assistive herding capabilities holds promis e for scaling to more complex and sophisticated tasks. (More)

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Paper citation in several formats:
Thakkar, P. and Wesley, L. (2005). AUTONOMOUS MOBILE ROBOT ASSISTED HERDING. In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 73-81. DOI: 10.5220/0001183300730081

@conference{icinco05,
author={Pinky Thakkar. and Leonard Wesley.},
title={AUTONOMOUS MOBILE ROBOT ASSISTED HERDING},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2005},
pages={73-81},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001183300730081},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - AUTONOMOUS MOBILE ROBOT ASSISTED HERDING
SN - 972-8865-30-9
IS - 2184-2809
AU - Thakkar, P.
AU - Wesley, L.
PY - 2005
SP - 73
EP - 81
DO - 10.5220/0001183300730081
PB - SciTePress

- Science and Technology Publications, Lda.
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