Authors:Theodor-Radu Grumeza¹;Thomas-Andrei Lazăr¹;Isabela Drămnesc¹;Gabor Kusper²;Konstantinos Papadopoulos³;Nikolaos Fachantidis³ andIoannis Lefkos³

Affiliations:¹Department of Computer Science, West University of Timisoara, Romania;²Department of Computer Science, Eszterhazy Karoly Catholic University, Eger, Hungary;³Laboratory of Informatics and Robotics Applications in Education and Society (LIRES), University of Macedonia, Thessaloniki, Greece

Keyword(s):2D Maps Generation, Noise Reduction, Clustering, LiDAR, Sonar, Agilex, Scout Mini, Pepper Robot.

Abstract:In this paper, the authors are doing experimental work on generating 2D maps using the Agilex Scout Mini to utilize Pepper as an autonomous robot for guiding individuals within their university. This necessity arises from the lack of environmental data required for Pepper’s navigation. Accurate and detailed maps are important for Pepper to orient itself effectively and provide reliable guidance. This process involves equipping Pepper to explore and document the university’s physical layout, enabling autonomous movement and precise assistance for people. Key considerations include determining potential issues when using the two robots, the Scout with LiDAR and Pepper with Sonar, for map generation. Selecting an appropriate algorithm for noise reduction in the mapping points is a key feature for ensuring high–quality maps.