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The popularity in sales of domestic robots suggests a movement towards household robotics which will need accurate control mechanisms where robots can navigate efficiently from one location to another. Domestic environments provide significant challenges. Clutter on the ground can make terrain impassable, moving humans and pets can block pathways, and stairs or uneven surfaces can be damaging. We can explore navigation using visual 3D sensing along with probabilistic path planning. He were discuss an implementation of this idea using a Microsoft Kinect and a Sphero robot. [PDF]
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