PERSON FOLLOWING BEHAVIOR GENERATED WITH JDE SCHEMA HIERARCHY
Roberto Wolfler Calvo, José M. Cañas, Lia Garcia-Perez · 2005
Service robots, like other autonomous robots, are demanded to exhibit a full range of different behaviors. A control architecture is required to integrate them. This paper describes the design and implementation of the person following behavior within JDE architecture, as two groups of concurrent schemas. The robot follows a person wearing a coloured shirt, actively searches for her when lost in the image, and safely avoids obstacles. Successful experiments with a real robot are also described, that validate JDE for this vision-based real-time behavior. 1