Identification and control for an unknown robot in Intelligent Space

Abstract

Intelligent Space is an area to perceive and understand what is happening in it, which provides diverse services to human and robots. We expect that Intelligent Space offers a lot of benefits as a good platform for robots. For example, robots can move by the guidance of Intelligent Space although they don't know about the environment. If a new robot comes in Intelligent Space, the robot wants to receive the guidance service from the space for its navigation. So, the space should perceive and control the robot, since it doesn't know anything about the space. In this paper, we propose a new algorithm for controlling an unknown robot in Intelligent Space. An unknown robot is an unidentified or new coming robot that an intelligent space has not yet known it. Objectives of the algorithm are to estimate the location of robot, to navigate it, and to identify it. The algorithm uses a color-based particle filter to estimate the location of robot and a predefined motion pattern to identify the robot. To evaluate the proposed algorithm, we command that a mobile robot moves according trajectory of robot.