ABSTRACT
Service robotics has become one of the research areas attracting major attention for over a decade and the social aspect of service robots has been increasingly being emphasized. Service robots not only navigate in an environment but also have to be able to interact with people to provide services (upon request or by identication of need). The human-centered robotics is currently among the vital research areas in mobile robotics with a variety of potential applications in medical care, surveillance, and domestic settings (Burgard et al., 2005; Liu et al., 2005; Bellotto and Hu, 2009). People tracking is a key technology to the human-centered service robots that enables to be aware of the presence of adjacent people, identify their current positions, and keep track of them (as needed). People tracking is a very challenging
CONTENTS
Introduction ......................................................................................................... 289 Generic Dynamic Resource Allocation Problem ............................................ 291 Procedure in Developing Dynamic Resource Allocation Framework ........ 293 Parallelism Principle ........................................................................................... 295
Parallelism ....................................................................................................... 295 Parallelism Policy ...................................................................................... 296
Performance Evaluation ................................................................................ 296 Centrality Principle ............................................................................................. 297
Centrality ......................................................................................................... 298 Centrality Policy ........................................................................................300
