The Concept of ISpace

Intelligent Space (ISpace)[7] is a space where many intelligent devices are distributed throughout the whole of the space, as shown in Fig.1. These intelligent devices have sensing, processing and networking functions, and are named DINDs (Distributed Intelligent Networked Devices). These devices observe the positions and behavior of both humans and robots coexisting in the ISpace. The information acquired by each DIND is shared among the DINDs through the network communication system. Based on the accumulated information, the environment as a system is able to understand the intention of humans. For supporting humans, the environment/system utilizes machines including computers and robots.

�} 1: Intelligent Space

Up until now, the position estimation of human and mobile robots[8], human behavior recognition[9] and mobile robot control under ISpace[10] have been studied. These are the basic functions of space information understanding and human support by robots. One DIND consists of a CCD camera for acquiring space information, and a processing computer which has the functions of data processing and network interfacing. It becomes easy to install new technology as a new module to the ISpace if the protocol and data structure between the DINDs and modules are decided in advance. In an intelligent space, this enable the achievement of a flexible system based on this feature. The human-following robot introduced in this paper is a new module for ISpace, as it is one of the applications located in a level higher than the mobile robot position estimation module.