Robot box-pushing with environment-embedded sensors

摘要

We address the problem of detecting and pushing stationary objects in a planar environment by using an environment-embedded sensor network and a simple mobile robot. The stationary sensors are used to detect pushable objects. The robot pushes a detected object based on pose information obtained from the sensors over a wireless network. We show that the accuracy of the push operation is correlated to the number of sensors used to determine object pose.