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History of Robotics Research and Development of Japan1999Integration, Intelligence, etc.Mobile Robot Navigation by a Distributed Vision System

Takushi SogoDepartment of Social Informatics, Kyoto University
Katsumi KimotoDepartment of Social Informatics, Kyoto University
Hiroshi IshiguroDepartment of Social Informatics, Kyoto University
Toru IshidaDepartment of Social Informatics, Kyoto University
A general infrastructure for robot navigation in an outdoor environment is proposed. The infrastructure, called a Distributed Vision System, consists of vision agents connected with a computer network, monitors the environment, maintains the environment models, and provides various information for robots by organizing communication between the vision agents. As the first step of our research, we have developed a prototype of the distributed vision system for navigating mobile robots. The experimental results show that the system has an ability to navigate the robots in a complex environment. 15th RSJ Best Paper Award in 2001.
図1 分散視覚システム
Fig. 1 Distributed Vision System
図2 視覚エージェント
Fig. 2 Vision Agent
図3 視覚エージェントの画像
Fig. 3 Image of Vision Agent
図4 検出された道路領域
Fig. 4 Detected Road Area

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Correspondence papers


Takushi Sogo, Katsumi Kimoto, Hiroshi Ishiguro, and Toru Ishida:Mobile Robot Navigation by a Distributed Vision System

Journal of the RSJ, Vol. 17, No. 7, pp. 0-7, 1999 (in Japanese).

Related papers


[1] H. Ishiguro, G. Tanaka and T. Ishida: Distributed Vision System for Real World Agents, Proc. ICMAS'96 Workshop on Learning, Interaction and Organizations in Multiagent Environments, 1996.

[2] G. Tanaka, H. Ishiguro and T. Ishida: Mobile Robot Navigation by Distributed Vision Agents, International Conference on Computational Intelligence and Multimedia Applications (ICCIMA'97) 1997.

[3] H. Ishiguro: Distributed Vision System: A Perceptual Information Infrastructure for Robot Navigation, International Joint Conference on Artificiall Intelligence (IJCAI'97), pp. 36-41, 1997.

[4] T. Sogo, H. Ishiguro and T. Ishida: Mobile Robot Navigation by Distributed Vision Agents, Approaches to Intelligent Agents (H. Nakashima and C. Zhang Eds.), Lecture Notes in Artificial Intelligence, Vol. 1733, Springer-Verlag, Berlin, pp. 96-110, 1999. (Second Pacific Rim International Workshop on Multi Agents (PRIMA'99)).

[5] T. Sogo, H. Ishiguro and T. Ishida: Mobile Robot Navigation by a Distributed Vision System, New Generation Computing, Vol. 19, No. 2, pp. 121-137, 2001.

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