Comunicação pervasiva e tomada de decisão autônoma em um robô móvel doméstico (Pervasive communication and autonomous decision making in a domestic mobile robot)

Luan Corumba (, Raphael PantaLeão (, Hendrik Macedo (

Universidade Federal de Sergipe
This paper appears in: Revista IEEE América Latina

Publication Date: Dec. 2011
Volume: 9,   Issue: 7 
ISSN: 1548-0992

Robots are example of controllable and autonomous physical devices. In real environments, robots are useful in providing some help on dangerous or daily tasks in a residential environment. There are two main issues concerning the development of a mobile robot to act as a domestic helper. The first one concerns the self-localization problem. The second one concerns decision making. In this paper we describe a domestic mobile robot which is capable of finding itself in a house environment, take decisions autonomously and communicate these decisions in a pervasive fashion. The localization algorithm is based on particle filter whereas a Bayesian Network has been designed to provide decision making.

Index Terms:
mobile robots, self-localization, particle filter, decision making, Bayesian Network   

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