Proposal of a behavior model for information support with Ubiquitous Display

In this paper, we propose a behavior model for a mobile robot with a projector to provide an appropriate information support based on user's interests and situations. We have been researching Ubiquitous Display (UD) and its behavior model. UD is consisted of a mobile robot and the projector with pan-tilt mechanism, and can show the various information by using its projector on various places, such as floors or walls of corridor. However, since the previous behavior model of the UD did not consider user's situations, UD could not provide information appropriately for each user. Thus, in this paper, we propose a new behavior model for UD that can be adapted to user's interests and situations. UD can understand user's situations by using UD's external sensors such as laser range finders (LRF) and RGBD camera. In addition, to understand user's interests, UD communicates with the user by projecting questions. The user can answer the questions by stepping on or pointing to the projection areas. Based on the user's situations and interests, UD changes its behavior. By using the proposed behavior model, user's situation-aware information support by the UD can be achieved. Preliminary experiments show the effectiveness of the proposed model.