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Huosheng Hu

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Papers by Huosheng Hu

LICAs: a modular architecture for intelligent control of mobile robots

Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

A modular architecture used for intelligent control of mobile robots has been developed at Oxford... more A modular architecture used for intelligent control of mobile robots has been developed at Oxford University over the last few years. This architecture takes the form of multiple sensing and control layers, based on “locally intelligent control agents” (LICAs). Central to such a design is the concept of “communication sequential processes” (CSP). This paper describes briefly the LICA-based control architecture

A Bank of Unscented Kalman Filters for Multimodal Human Perception with Mobile Service Robots

International Journal of Social Robotics, Mar 11, 2010

A new generation of mobile service robots could be ready soon to operate in human environments if... more A new generation of mobile service robots could be ready soon to operate in human environments if they can robustly estimate position and identity of surrounding people. Researchers in this field face a number of challenging problems, among which sensor uncertainties and realtime constraints. In this paper, we propose a novel and efficient solution for simultaneous tracking and recognition of people within the observation range of a mobile robot. Multisensor techniques for legs and face detection are fused in a robust probabilistic framework to height, clothes and face recognition algorithms. The system is based on an efficient bank of Unscented Kalman Filters that keeps a multihypothesis estimate of the person being tracked, including the case where the latter is unknown to the robot. Several experiments with real mobile robots are presented to validate the proposed approach. They show that our solutions can improve the robot's perception and recognition of humans, providing a useful contribution for the future application of service robotics.

Computationally efficient solutions for tracking people with a mobile robot: an experimental evaluation of Bayesian filters

Autonomous Robots, Dec 23, 2009

Modern service robots will soon become an essential part of modern society. As they have to move ... more Modern service robots will soon become an essential part of modern society. As they have to move and act in human environments, it is essential for them to be provided with a fast and reliable tracking system that localizes people in the neighbourhood. It is therefore important to select the most appropriate filter to estimate the position of these persons. This paper presents three efficient implementations of multisensor-human tracking based on different Bayesian estimators: Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF) and Sampling Importance Resampling (SIR) particle filter. The system implemented on a mobile robot is explained, introducing the methods used to detect and estimate the position of multiple people. Then, the solutions based on the three filters are discussed in detail. Several real experiments are conducted to evaluate their performance, which is compared in terms of accuracy, robustness and execution time of the estimation. The results show that a solution based on the UKF can perform as good as particle filters and can be often a better choice when computational efficiency is a key issue.

EKF Based Mobile Robot Localization

Localization plays a significant role in the autonomous navigation of a mobile robot. This paper ... more Localization plays a significant role in the autonomous navigation of a mobile robot. This paper investigates mobile robot localization based on Extended Kalman Filter (EKF) algorithm and a feature based map. Corner angles in the environment are detected as the features, and the detailed processes of feature extraction are described. Then the motion model and odometry information are elaborated, and the EKF localization algorithm is presented. Finally, the experimental result is given to verify the feasibility and performance of the proposed localization algorithm.

Navigation and control of a mobile robot among moving obstacles

[1991] Proceedings of the 30th IEEE Conference on Decision and Control

Single beacon based localization of AUVs using moving Horizon estimation

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

A Hybrid Sensing Approach to Mobile Robot Localization in Complex Indoor Environments

International Journal of Robotics and Automation, 2012

A multi-scale focus pseudo omni-directional robot vision system with intelligent image grabbers

Towards human-friendly efficient control of multi-robot teams

2013 International Conference on Collaboration Technologies and Systems (CTS), 2013

Fast Circular Landmark Detection for Cooperative Localisation and Mapping

Proceedings of the 2005 IEEE International Conference on Robotics and Automation

Visual Navigation of a Museum Guide Robot

2006 6th World Congress on Intelligent Control and Automation, 2006

Laser based simultaneous mutual localisation for multiple mobile robots

IEEE International Conference Mechatronics and Automation, 2005

Building a 3D simulator for autonomous navigation of robotic fishes

2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)

A Multi-sensor armband based on muscle and motion measurements

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2012

Pose-based GraphSLAM algorithm for robotic fish with a mechanical scanning sonar

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2013

Mobile Robot 3D Perception and Mapping without Odometry Using Multi-Resolution Occupancy Lists

2007 International Conference on Mechatronics and Automation, 2007

IMU/GPS based pedestrian localization

2012 4th Computer Science and Electronic Engineering Conference (CEEC), 2012

Vision and Laser Data Fusion for Tracking People with a Mobile Robot

2006 IEEE International Conference on Robotics and Biomimetics, 2006

People Tracking and Identification with a Mobile Robot

2007 International Conference on Mechatronics and Automation, 2007

3D Laser range scanner with hemispherical field of view for robot navigation

2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2008