IROS 2015 Paper Abstract

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Paper ThFT4.3

Li, Renjun (Institute for Infocomm Research), Huang, Zhiyong (Institute for Infocomm Research), Kurniawan, Ernest (Institute for Infocomm Research), Ho, Chin Keong (Institute for Infocomm Research)

AuRoSS: An Autonomous Robotic Shelf Scanning System

Scheduled for presentation during the Regular session "Navigation" (ThFT4), Thursday, October 1, 2015, 17:20−17:35, Saal C1+C2

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 20, 2019

Keywords Navigation, Mobile Manipulation, Motion and Path Planning

Abstract

Tracking of items on shelves is an important but time-consuming task in inventory control. In particular, books on shelves are frequently borrowed and returned, even misplaced, and proves a challenge to be tracked on a daily basis. To track the books efficiently, we propose the Autonomous Robotic Shelf Scanning AuRoSS system. This paper elaborates on the key enabling robotic technology for the fully autonomous system, namely, a navigation system with surface tracking capability. A Radio Frequency Identification (RFID) reader is carried by the navigation system to identify the RFID tags embedded in each book. Based on the tag information, a tracking report that highlights missing and mis-placed books is generated for the end users. To ensure successful identification, the surface tracking requires high accuracy, for which we propose a filtered Hough transform and a macro-mini manipulator structure. Tests of the AuRoSS system in a library show high accuracy in the scanning performance.

 

 

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