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Children playing with robots using stigmergy on a smart floor
Örebro University, School of Science and Technology. (AASS)
(AASS)ORCID iD: 0000-0002-9652-7864
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0001-8229-1363
2016 (English)In: 2016 Intl IEEE Conferences on Ubiquitous Intelligence & Computing, Advanced and Trusted Computing, Scalable Computing and Communications, Cloud and Big Data Computing, Internet of People, and Smart World Congress (UIC/ATC/ScalCom/CBDCom/IoP/SmartWorld), Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 1098-1103Conference paper, Published paper (Refereed)
Abstract [en]

Reliable and safe interaction is essential when humans and robots move in close proximity. In this paper, we present a stigmergic approach where humans interact with robots via a smart floor. Stigmergy has been widely studied in robotic systems, however, HRI has thus far not availed itself of stigmergic solutions. We realize a stigmergic medium via RFID tags embedded in the floor, and use these to enable robot navigation, human tracking, as well as the interaction between robots and humans. The proposed method allows to employ robots with minimal sensing and computation capabilities. The approach relies only on the RFID sensors and the information stored in the tags, and no internal map is required for navigation. We design and implement a prototype game which involves a robot and a child moving together in a shared space. The prototype demonstrates that the approach is reliable and adheres to given safety constraints when human and robot are moving within close proximity of each other.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2016. p. 1098-1103
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-56267DOI: 10.1109/UIC-ATC-ScalCom-CBDCom-IoP-SmartWorld.2016.0172ISI: 000393306500149Scopus ID: 2-s2.0-85013200545ISBN: 978-1-5090-2771-2 (electronic)OAI: oai:DiVA.org:oru-56267DiVA, id: diva2:1081046
Conference
13th IEEE International Conference on Ubiquitous Intelligence and Computing, 13th IEEE International Conference on Advanced and Trusted Computing, 16th IEEE International Conference on Scalable Computing and Communications, IEEE International Conference on Cloud and Big Data Computing, IEEE International Conference on Internet of People and IEEE Smart World Congress and Workshops, UIC-ATC-ScalCom-CBDCom-IoP-SmartWorld 2016, Toulouse, France, July 18-21, 2016
Available from: 2017-03-13 Created: 2017-03-13 Last updated: 2018-01-13Bibliographically approved

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Citation style
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