Bollywood: A service robot named Markovito Videos

Added: Jul 7, 2007

From: hectorhugoaviles

Duration: 4:59

This is our initial version or our service robot named Markovito, that is oriented to interact with humans.The main goal of Markovito is to deliver messages and objects between offices under a user request.When the system starts the robot tries to find its global position using natural landmarks of the enviroment­. ­ He uses a probablistic grid map previously constructed by him. In order to do so, Markovito uses Player/Stage pmap tool that is based on particle filtering. The map considers fusion of sonars and laser readings.Once his has received the proper commands Markovito navigates to reach the receiver's position.His communication abilities include speech synthesis and recognition in Spanish, and face detection (OpenCV libraries). Markovito has four main modules: i) navigation, localization and obstacle avoidanceii) speech recognition (although as usual, it fails sometimes) and synthesis, iii) face detection and iv) object manipulation.These modules are controlled following a policiy obtained using Factored Markov decision processes,specifically with the SPUDD algorithm. The system considers 13 binary state variables and 14 accions.In this video we show some photographs taken from an interview with Eduardo Morales and with Enrique Sucar for TvAzteca México.Team:1) Name: Hector Hugo Aviles-ArriagaAffiliation: Instituto Nacional de Astrofisica, Optica y Electronicahector_hugo_aviles@hotmail.com, haviles@inaoep.mx (until August 2007)2) Name: Elva Corona-XelhuantziAffiliation: Instituto Nacional de Astrofisica, Optica y Electronicaelvacx@inaoep.mx3) Name: Victor Manuel Jaquez LealAffiliation: Tec de Monterrey Campus Cuernavacaceyusa@gmail.com4) Name: Sergio HernandezAffiliation: Tec de Monterrey Campus Cuernavaca5) Name: Eduardo MoralesAffiliation: Instituto Nacional de Astrofisica, Optica y Electronicaemorales@inaoep.mx6) Name: Enrique SucarAffiliation: Instituto Nacional de Astrofisica, Optica y Electronicaesucar@inaoep.mxWe would like to thank Luis Villaseñor and Alejandro Reyes for the facilities and support with the Sphinx2 libraries and speech models in Spanish.More information of this work:A flexible service robot named Markovito. L. E. Sucar, E. F. Morales, H. H. Avilés. Workshop on Service Robots, 6th Mexican International Conference on Artificial Intelligence (MICAI'07). 2007.

Channel: Film

Tags: decision  factored  human  iteraction  markov  mobile  natural  processes  robot  service 

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