Alex Goldhoorn

Alex Goldhoorn
Universitat Politècnica de Catalunya | UPC · IRI - Institute of Robotics and Industrial Informatics

Ph.D.

About

9
Publications
1,025
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104
Citations

Publications

Publications (9)
Article
Full-text available
Social robots should be able to search and track people in order to help them. In this paper we present two different techniques for coordinated multi-robot teams for searching and tracking people. A probability map (belief) of a target person location is maintained, and to initialize and update it, two methods were implemented and tested: one base...
Article
Full-text available
Searching and tracking people in crowded urban areas where they can be occluded by static or dynamic obstacles is an important behavior for social robots which assist humans in urban outdoor environments. In this work, we propose a method that can handle in real-time searching and tracking people using a Highest Belief Particle Filter Searcher and...
Conference Paper
Full-text available
This study describes and evaluates two new methods for finding and following people in urban settings using a humanoid service robot: the Continuous Real-time POMCP method, and its improved extension called Adaptive Highest Belief Continuous Real-time POMCP follower. They are able to run in real-time, in large continuous environments. These methods...
Conference Paper
Full-text available
The development of systems that allow multimodal interpretation of human-machine interaction is crucial to advance our understanding and validation of theoretical models of user behavior. In particular, a system capable of collecting, perceiving and interpreting unconscious behavior can provide rich contextual information for an interactive system....
Conference Paper
Full-text available
The hide-and-seek game has many interesting aspects for studying cognitive functions in robots and the interactions between mobile robots and humans. Some MOMDP (Mixed Observable Markovian Decision Processes) models and a heuristic-based method are proposed and evaluated as an automated seeker. MOMDPs are used because the hider's position is not al...
Conference Paper
Full-text available
The hide-and-seek game is considered an excellent domain for studying the interactions between mobile robots and humans. Prior to the implementation and test in our mobile robots TIBI and DABO, we have been devising different models and strategies to play this game and comparing them extensively in simulations. Recently, we have proposed the use of...
Article
Biologically inspired homing methods, such as the Average Landmark Vector, are an interesting solution for local navigation due to its simplicity. However, usually they require a modification of the environment by placing artificial landmarks in order to work reliably. In this paper we combine the Average Landmark Vector with invariant feature poin...
Article
The original publication ia available at http://www.booksonline.iospress.nl/Content/View.aspx?piid=7638 Several methods can be used for a robot to return to a previously visited position. In our approach we use the average landmark vector method to calculate a homing vector which should point the robot to the destination. This approach was tested i...

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