OREGON STATE UNIVERSITY
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The ROS navigation stack uses layered costmaps to represent obstacles and other undesirable areas in an environment. This project seeks to add additional costmap layers that represent private areas where the robot oughtn't go. Integrating this idea will cause the robot to "plan around" private areas when navigating through a building.
We plan to use costmaps to create a room-by-room privacy interface for users. For example, a user would be shown a labeled floorplan, by which they could click on the kid's room and specify it as private from 1-3pm. The interface would be simple and high-level for users, and the robot could implement private areas as either no-go zones or even a no-see zone wherein everything within the area is redacted from view.