We demonstrate that structured light-based depth sensing with standard perception algorithms can enable mobile peer-to-peer interaction between humans and robots. We posit that the use of recent emerging devices for depth-based imaging can enable robot perception of non-verbal cues in human movement in the face of lighting and minor terrain variations. Toward this end, we have developed an integrated robotic system capable of person following and responding to verbal and non-verbal commands under varying lighting conditions and uneven terrain. The feasibility of our system for peer-to-peer HRI is demonstrated through two trials in indoor and outdoor environments.

Simulators have played a critical role in robotics research as tools for quick and efficient testing of new concepts, strategies, and algorithms. To date, most simulators have been restricted to 2D worlds, and few have matured to the point where they are both highly capable and easily adaptable. Gazebo is designed to fill this niche by creating a 3D dynamic multi-robot environment capable of recreating the complex worlds that would be encountered by the next generation of mobile robots. Its open source status, fine grained control, and high fidelity place Gazebo in a unique position to become more than just a stepping stone between the drawing board and real hardware: data visualization, simulation of remote environments, and even reverse engineering of blackbox systems are all possible applications. Gazebo is developed in cooperation with the Player and Stage projects (Gerkey, B. P., et al., July 2003), (Gerkey, B. P., et al., May 2001), (Vaughan, R. T., et al., Oct. 2003), and is available from http://playerstage.sourceforge.net/gazebo/ gazebo.html.