MARVIN

Mobile Autonomous Robotic Vehicle for Indoor Navigation (MARVIN)

MARVIN is the flagship of Victoria University’s mobile robotic fleet. His current appearance owes much to the collaborative efforts of Robotechnology, a major animatronics company based in Wellington New Zealand. Current development is focussed on security applications for MARVIN. He is being equipped with sensors and adequate intelligence to be able to actively patrol the corridors of the University to detect intruders. Furthermore, MARVIN can alter his shape depending upon his mood, becoming more aggressive and assertive as necessary.

It is desired that interaction with MARVIN be as natural as possible. Consequently, he is equipped with voice recognition and speech synthesis tools. He will turn to face the person who is addressing him, nod in understanding or seek clarification if confused. He can direct authorised personnel to specific sites, or alert a human security guard if necessary.

Current projects:

Christopher Lee-Johnson - PhD Student
My research focuses on biologically-inspired computational models of cognition and emotion for mobile robot control and human-machine interaction. In particular, I am developing adaptive control systems for MARVIN, an autonomous mobile security robot. The robot’s unique mobile head and torso units allow it to change its body posture to portray its internal “emotional state”, and to become larger and more intimidating when confronting intruders. I am investigating using these physical changes to portray MARVIN’s emotional state, and furthermore considering how these emotions might be made to affect MARVIN’s behaviour.

Natsuki Hasegawa - 4th year Honours Student
MARVIN is often called upon to make publicity appearances. However, he spends most of his time in pieces since he is an active research tool. This project requires a subset of MARVIN’s control and recognition algorithms (developed as parts of more advanced projects) be integrated in a robust manner so that MARVIN is able to “go-on-tour”. Old LabVIEW code needs to be ported to MATLAB so that a MATLAB GUI can be used to affect simple manual control. Simple autonomous routines will also be implemented so that limited human-machine interaction can occur.

Past projects:

Ashil Prakash (2004), Humanisation of an Autonomous Guided Vehicle.

Lucas Sikking (2004), The Development of an Indoor Navigation Algorithm for an Autonomous Mobile Robot.

Christopher Lee-Johnson (2004), The Development of a Control System for an Autonomous Mobile Robot.

Dan Loughnane (2001), Design and Construction of an Autonomous Mobile Security Device.