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

doi:10.1007/s10846-011-9641-x

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

School of Mechanical Engineering

Research output: Contribution to journal › Review article › peer-review

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 language	English
Pages (from-to)	79-99
Number of pages	21
Journal	Journal of Intelligent and Robotic Systems: Theory and Applications
Volume	67
Issue number	2
DOIs	https://doi.org/10.1007/s10846-011-9641-x
Publication status	Published - 2012 Jul

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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10.1007/s10846-011-9641-x

Cite this

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title = "Proactive human search for the designated person with prior context information in an undiscovered environments",

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.",

keywords = "CIROS, Intelligent robot software architecture (IRSA), Proactive human search, Robot grand challenge",

author = "Sangseok Yun and Bongjin Jun and Daijin Kim and Jaewoong Kim and Sukhan Lee and Choi, {Mun Taek} and Munsang Kim and Park, {Joong Tae} and Song, {Jae Bok}",

note = "Funding Information: Acknowledgements This research was performed for the Intelligent Robotics Development Program, one of the 21st Century Frontier R&D Programs funded by the Ministry of Knowledge and Economy of Republic of Korea.",

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doi = "10.1007/s10846-011-9641-x",

language = "English",

volume = "67",

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AU - Yun, Sangseok

AU - Jun, Bongjin

AU - Kim, Daijin

AU - Kim, Jaewoong

AU - Lee, Sukhan

AU - Choi, Mun Taek

AU - Kim, Munsang

AU - Park, Joong Tae

AU - Song, Jae Bok

N1 - Funding Information: Acknowledgements This research was performed for the Intelligent Robotics Development Program, one of the 21st Century Frontier R&D Programs funded by the Ministry of Knowledge and Economy of Republic of Korea.

PY - 2012/7

Y1 - 2012/7

N2 - 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.

AB - 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.

KW - CIROS

KW - Intelligent robot software architecture (IRSA)

KW - Proactive human search

KW - Robot grand challenge

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

Abstract

Keywords

ASJC Scopus subject areas

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