CASTELNOVI , Mattia

Self-localization plays a fundamental role in all the activities of a Service Mobile Robot, from simple point-to-point navigation to complex fetch-and-carry tasks. In particular, in presence of an environment which changes dynamically, a trade-off must be found between apparently opposite characteristics: uniqueness (i.e. the ability to...

Self-localization plays a fundamental role in all the activities of a Service Mobile Robot, from simple point-to-point navigation to complex fetch-and-carry tasks. In particular, in presence of an environment which changes dynamically, a trade-off must be found between apparently opposite characteristics: uniqueness (i.e. the ability to...

We describe a surveillance system which allows a mobile robot, operating within a familiar setting, to detect unexpected changes in the environment (i.e., presence or absence of objects or persons, unexpectedly opened/closed doors or windows, etc.). To achieve this, the robot "looks at" the environment through a TV camera; next, it compares...

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