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navigation model, the cognitive interface is not based on a shared centralized
map of the environment, but rather on individual behaviors. In this way, the
user interface allows user participation by means of the selection of simple be-
haviors, such as “go ahead”. For more complex orders, a higher abstract level
has been designed. At this level the possible destinations are matched with a set
of complex behaviors, which can also be composed by sets of simpler behaviors
because, frequently, sequential descriptions of the way reflect the mental path of
the user better.
5Conluon
The behavior-based strategy presented in this chapter exploits properties of the
environment in order to perform intelligent indoor navigation. The intelligence
comes not only from the system processing and sensing capabilities; it mainly
emerges from the adequate combination of behaviors. Moreover, due to the proce-
dural nature of the approach, its intelligence, which is “stored” in the individual
behaviors, depends on the capability of interacting with the environment.
Behavior-based navigation adapts very well to indoor semi-structured dy-
namic environments and facilitates human-system interaction in intelligent am-
bients, providing an adequate basis to design any kind of assistants for human
autonomous navigation, such as guidance for the blind, indoor assistance for the
elderly, smart wheelchair control, museum guides, etc.
Acknowledgments
This work was supported by the Gipuzkoako Foru Aldundia under grant OF761/
2003 and by the Spanish Ministry of Science and Technology (MCYT) within
the project DomoSilla (TIC2000-0087-P4) and Heterorred (TIC 2001-1868-C03).
Special thanks to Prof. Man Grana for the uninterested offer to use his Pio-
neer3 robot, and to Aitzol Astigarraga and JoseMarıa Martınez-Otzeta, for their
contribution to the implementation of the control architecture. The authors also
wish to thank the topic's editor and the anonymous reviewer for their valuable
comments and suggestions.
References
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2. Abascal, J., Cagigas, D., Garay, N., and Gardeazabal, L.: “Mobile interface for
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Mobile devices, Springer Verlag. LNCS 411. (2002) 373-377
3. Abascal, J., Cagigas, D., Garay, N., and Gardeazabal, L.: “Mobile interfaces for
people with severe motor restrictions.” In C. Stephanidis, editor, Universal Access
in HCI. Inclusive Design in the Information Society. Vol. 4. Lawrence Erlbaum
Associates. (2003) 289-293
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