Pebbles: User-configurable device network for robot navigation

Kentaro Ishii, Haipeng Mi, Lei Ma, Natsuda Laokulrat, Masahiko Inami, Takeo Igarashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


This study proposes devices suitable for use by non-experts to design robot navigation routes. The user places landmarks, called pebbles, on the floor to tell navigation routes to a robot. Using infrared communication, the pebbles automatically generate navigation routes. The system is designed such that non-expert users can understand the system status to configure the user's target environment without expert assistance. During deployment, the system provides LED and voice feedback. The user can confirm that the devices are appropriately placed for the construction of a desired navigation network. In addition, because there is a device at each destination, our method can name locations by associating a device ID with a particular name. A user study showed that non-expert users were able to understand device usage and construct robot navigation routes.

Original languageEnglish
Title of host publicationHuman-Computer Interaction, INTERACT 2013 - 14th IFIP TC 13 International Conference, Proceedings
Number of pages17
EditionPART 2
Publication statusPublished - 2013
Externally publishedYes
Event14th IFIP TC 13 International Conference on Human-Computer Interaction, INTERACT 2013 - Cape Town, South Africa
Duration: 2013 Sept 22013 Sept 6

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 2
Volume8118 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other14th IFIP TC 13 International Conference on Human-Computer Interaction, INTERACT 2013
Country/TerritorySouth Africa
CityCape Town


  • Navigation Landmark
  • Non-Expert User
  • Robot Navigation
  • Tangible User Interface

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science


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