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Human-Centered Mobile Robot Navigation

Lehrstuhl: RST - Institute of Control Theory and Systems Engineering

Betreuer: Christoph Rösmann, Frank Hoffmann,

Beginn ab: 17.10.2016

Maximale Anzahl der Teilnehmer: 7

Beschreibung: In the near future mobile service robots will provide communicative and informal services at public places, e.g. in museums, malls or gastronomies.
In this context a legible and coherent social interaction between humans and robots is a key factor for their consumer acceptance as well as their safe navigation in crowded, dynamic environments.
The Institute of Control Theory and Systems Engineering possesses a fleet of ten TurtleBots for facilitating the development of algorithms and their broad evaluation in real environments. The TurtleBot is a differential-drive robot equipped with a 3D vision sensor and is fully supported by the „Robot Operating System“ (ROS). ROS is a widespread C++/Python software library for robot applications and provides communication protocols, visualization utilities and a 3D simulator (to name just a few).

This project group consists of the integration, extension and evaluation of utilities and algorithms for mobile robots, in particular for our TurtleBot fleet, in ROS.

The group will be divided into subgroups focusing on the implementation and evaluation of different aspects such like
- Motion planning (trajectory planning, task coordination)
- Interaction with humans (e.g. text-to-speach output and speach recognition, gestures, …)
- Evaluation framework for (multi-)robot experiments (data aquivisition, scenario definition, …)

Students are expected to have a background in robotics, control theory and optimization. They are also expected to have successfully completed the class “Mobile Robots” offered in the summer term 2016.

Profound programming experience preferably in C++ is essential.