Home robot service by ceiling ultrasonic locator and microphone array

This paper describes a mobile robot for home service purpose together with ceiling attached ultrasonic locator and microphone array. User call can be detected by those ceiling devices and then mobile robot navigates toward given location. After reaching to the given location, the robot tries to find out user location by using stereo camera, laser and triconcentric microphone array. We implemented those system at our experimental house "Rokko Holone". System components and experimental results are shown