Abstract: Modern farming is currently being done by powerful ground equipment or aircraft that weigh several tons and treat uniformly tens of hectares per hour. Automated farming can use small, agile, lightweight, energy-efficient automated robotic equipment that flies to do the same job, even able to farm on a plant-by-plant basis, allowing for new ways of farming. Automated farming uses unmanned aerial vehicles (UAVs) that are equipped with detachable implements and reservoirs and that we call “aerial farm robots.” Automated farming uses high-precision GPS and other precision positioning and vision technology to autonomously and precisely perform crop dusting, planting, fertilizing and other field related farming or husbandry tasks. The subsystems for the control, refill, recharge and communication subsystems of the aerial farm robots are part of the overall automated farming system, and can autonomously handle most of the husbandry tasks on a farm.

Abstract: Various interfaces allowing users to directly manipulate an automatic moving apparatus manually, thus enhancing user convenience and efficiency, are provided. An automatic moving apparatus includes: a storage unit configured to store a traveling method; an image detection unit configured to acquire a captured image; a driving unit having one or more wheels and driving the wheels according to a driving signal; and a control unit configured to extract a traveling direction from the traveling method stored in the storage unit in a first mode, extract a traveling direction indicated by a sensing target from the captured image acquired by the image detection unit in a second mode, and generate a driving signal for moving the automatic moving apparatus in the extracted traveling direction.

Abstract: A device 11 includes a floor surface information acquisition portion 21 which acquires floor surface information in a plurality of local regions of a floor surface. The gait generator 22 of the device 11 sets the desired landing position and posture of a free leg 3 of a robot 1 within one local region and determines a desired horizontal motion trajectory of the distal end of the free leg 3 to determine a desired vertical motion trajectory of the distal end of the free leg 3 so that the height of the distal end of the free leg 3 is equal to or higher than a lower-limit height determined to prevent a contact between the distal end of the free leg 3 and the floor surface of the local region at the positions of a plurality of sampling points on the desired horizontal motion trajectory.

Abstract: A bipedal robot having a pair of legs with 6 degrees of freedom and a control method thereof which calculate a capture point by combining the position and velocity of the center of gravity (COG) and control the capture point during walking to stably control walking of the robot. A Finite State Machine (FSM) is configured to execute a motion similar to walking of a human, and thus the robot naturally walks without constraint that the knees be bent all the time, thereby being capable of walking with a large stride and effectively using energy required while walking.

Abstract: The present invention relates to education robotics systems and methods. In particular, the present invention provides robotic systems comprising tangible and graphic programming interfaces suitable for use by young children.

Abstract: An autonomous floor cleaning robot includes a transport drive and control system arranged for autonomous movement of the robot over a floor for performing cleaning operations. The robot chassis carries a first cleaning zone comprising cleaning elements arranged to suction loose particulates up from the cleaning surface and a second cleaning zone comprising cleaning elements arraigned to apply a cleaning fluid onto the surface and to thereafter collect the cleaning fluid up from the surface after it has been used to clean the surface. The robot chassis carries a supply of cleaning fluid and a waste container for storing waste materials collected up from the cleaning surface.

Abstract: Techniques are disclosed for controlling robot pixels to display a visual representation of an input. The input to the system could be an image of a face, and the robot pixels deploy in a physical arrangement to display a visual representation of the face, and would change their physical arrangement over time to represent changing facial expressions. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic robots to guarantee smooth and collision-free motions. The collision avoidance technique works for multiple robots by decoupling path planning and coordination.

Abstract: The present invention relates to a map generating and updating method for mobile robot position recognition, and more specifically relates to a map generating and updating method for mobile robot position recognition, whereby position recognition error can be minimized by registering landmarks extracted during map generation and landmarks extracted on the basis of the probable error in inferred landmarks, calculating the accuracy of landmarks pre-registered during map generation, and adjusting the level of landmarks of low accuracy or removing landmarks which have been registered erroneously.

Abstract: A robot includes a chassis, a motive subsystem configured to maneuver the chassis, a hopping actuator attached to the chassis and configured to launch the robot, and at least one leg pivotable with respect to the chassis to pitch the chassis upward at a selected launch trajectory angle. A control subsystem automatically actuates and controls the motive subsystem when the robot is airborne and uses the rotational momentum of the motive subsystem to control the attitude of the robot chassis in flight.

Abstract: A robot controller controls a robot to maintain balance in response to an external disturbance (e.g., a push) on level or non-level ground. The robot controller determines a predicted stepping location for the robot such that the robot will be able to maintain a balanced upright position if it steps to that location. As long as the stepping location predicted stepping location remains within a predefined region (e.g., within the area under the robot's feet), the robot will maintain balance in response to the push via postural changes without taking a step. If the predicted stepping location moves outside the predefined region, the robot will take a step to the predicted location in order to maintain its balance.

Abstract: A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of an event.

Abstract: A method according to the invention for controlling a manipulator, in particular a robot, includes the following steps: determining (S10, S20) a target path (q(s)) of the manipulator, and determining (S70) a motion value (v(s)) for this target path, optionally, determining (S50) a path segment ([s_A, s_E]) with a defined profile of a motion value (v(s)=vc), and automatically determining (S60) this motion value on the basis of motion values (v_max_RB, v_max_vg) permissible in this path segment.

Abstract: A locomotion system for use with a robotic device is provided. The locomotion system includes a first micropillar array including at least a first micropillar, a second micropillar array including at least a second micropillar, a control circuit associated with each micropillar of the first and second micropillar arrays, and a controller operatively coupled to each control circuit. The controller is configured to selectively activate the first and second micropillars in a sequence that causes the robotic device to move in a predetermined direction.

Abstract: A line bypass system is provided having a guide wire. The line bypass system has a support structure defining a first channel, into which a first wire portion of the guide wire is received. The support structure has a second channel, extending parallel to the first channel, into which a second wire portion of the guide wire is received. The first channel is dimensioned to facilitate engagement of a robot with the first wire portion and the second channel is dimensioned to facilitate engagement of a robot with the second wire portion as the robot traverses the support structure.

Abstract: The present disclosure relates to a system, method and article which may be configured to autonomously dispense a medium onto a relatively large surface relatively accurately.

Abstract: A mobile robot operable to move on a surface in a room is provided. The mobile robot includes a shell and a chassis including at least two wheels. At least one motor is connected to the wheels for moving the mobile robot on the surface. A cleaner is operable to clean the surface as the mobile robot moves on the surface. A wall sensor is operable to detect a wall in the room as the mobile robot moves on the surface. A controller is operable to control the motor to move the mobile robot on the surface in accordance with a wall following mode and a bounce mode. In the wall following mode, the mobile robot moves generally adjacent to and along the wall in response to detection of the wall by the wall sensor. In the bounce mode, the mobile robot moves away from the wall.

Abstract: A robot cleaner includes a main body, a light transmitting unit, an image sensor, a base, a rotation drive unit, a tilting unit, and a tilting drive unit. The light transmitting unit emits light. The light emitted from the light transmitting unit and reflected or scattered is formed on the image sensor. The base supports the light transmitting unit and the image sensor and is rotatably disposed in the main body. The rotation drive unit rotates the base. The tilting unit tilts the light transmitting unit and the image sensor.

Abstract: A method of controlling motion on the ground of a device having at least two legs comprising: obtaining current values of dynamic state variables of the device; optimizing a movement command for the device under constraints while taking account of said current values and of a movement setpoint for the device, said optimization being performed by modeling a movement of the device between a current state and a second state, the device being supported during said movement by at least on a first leg, and then from an instant in which the center of pressure on the ground is changed, at least on a second leg; and applying said movement command; wherein said optimization is performed on the assumption that the gravity potential energy of the device in the second state is a local maximum as a function of time.

Abstract: Systems and methods related to construction, configuration, and utilization of humanoid robotic systems and aspects thereof are described. A system may include a mobile base, a spine structure, a body structure, and at least one robotic arm, each of which is movably configured to have significant human-scale capabilities in prescribed environments. The one or more robotic arms may be rotatably coupled to the body structure, which may be mechanically associated with the mobile base, which is preferably configured for holonomic or semi-holonomic motion through human scale travel pathways that are ADA compliant. Aspects of the one or more arms may be counterbalanced with one or more spring-based counterbalancing mechanisms which facilitate backdriveability and payload features.

Abstract: Provided is a system and method for delivering mail and goods using a mobile robot drone system. The method may comprise self-moving the mobile robot drone system to a mail or goods receiving location. Data on the mail or goods receiving location and mail or goods to deliver id received from a user. Itinerary to the mail or goods receiving location is determined based on itinerary data received from a GPS unit. In the location, the mobile robot drone system receives the mail or goods via a mail and goods compartment and then delivers the mail or goods to a predefined location. Based on user instructions, the mobile robot drone system electronically signs receipt verification documents or performs payment by displaying a payment barcode encoding user payment information. After delivering the mail or goods, the mobile robot drone system provides access to the mail and goods compartment.

Abstract: A robot cleaner is disclosed. The robot cleaner includes a cleaner body, a position sensor disposed in the cleaner body, the position sensor including a light transmission unit to emit light and a light reception unit to receive light reflected or scattered from an obstacle after being emitted from the light transmission unit, and a transparent member to transmit the light emitted from the light transmission unit and the light to be received by the light reception unit.

Abstract: A wall-crawling robot or other electroadhesive device can include a battery or other low voltage power source driving a motor that provides a primary device function, a voltage convertor adapted to convert the low voltage to a high voltage using the motor output, and electrodes configured to apply the high voltage to produce an electrostatic force between the electroadhesive device and a foreign substrate. The electrostatic force maintains a current position of the electroadhesive device relative to the foreign substrate, and the voltage convertor is separate from the primary function of the electroadhesive device. The primary function can be a mechanism for locomotion, and the voltage convertor can be a Van de Graff generator, a piezoelectric generator, or an inductive switch generator, any of which are driven in a secondary manner as a result of the motor output.

Abstract: A Global Virtual Presence (SGVP) platform integrates communications, robotics and Men Machine Interface (MMI) technologies and provides a unique way of delivering virtual presence experience to a user. The user can control a Robotic Virtual Explorer Devices (RVEDs) and receive a real-time media stream at his virtual terminal. In addition to real-time interactive video feeds, the system provides a pre-recorded video feed gallery of various most unreachable areas of the world, thereby providing a feeling of virtual-like presence to people, who may never see these places due to physical and financial constraints.

Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

Abstract: Systems and methods related to construction, configuration, and utilization of humanoid robotic systems and aspects thereof are described. A system may include a mobile base, a spine structure, a body structure, and at least one robotic arm, each of which is movably configured to have significant human-scale capabilities in prescribed environments. The one or more robotic arms may be rotatably coupled to the body structure, which may be mechanically associated with the mobile base and spine such that it may be deflectably elevated and rolled relative to the base simultaneously and independently. Aspects of the one or more arms may be counterbalanced with one or more spring-based counterbalancing mechanisms which facilitate backdriveability and payload features.

Abstract: A power-saving robot system includes at least one peripheral device and a mobile robot. The peripheral device includes a controller having an active mode and a hibernation mode, and a wireless communication component capable of activation in the hibernation mode. A controller of the robot has an activating routine that communicates with and temporarily activates the peripheral device, via wireless communication, from the hibernation mode. In another aspect, a robot system includes a network data bridge and a mobile robot. The network data bridge includes a broadband network interface, a wireless command interface, and a data bridge component. The data bridge component extracts serial commands received via the broadband network interface from an internet protocol, applies a command protocol thereto, and broadcasts the serial commands via the wireless interface. The mobile robot includes a wireless command communication component that receives the serial commands transmitted from the network data bridge.

Abstract: The disclosure provides an approach for determining simplified models of humanoid robots. A simplification application linearizes a robot model around a nominal state and performs a singular value decomposition of an inertial term of the model, selecting singular values and corresponding singular vectors to be kept in an inertial term of a simplified model by matching a kinetic energy of the original model to a kinetic energy of the simplified model. Further, a gravitational forces term and a velocity-dependent forces term may be determined by computing active joint torques at sample poses around the nominal pose and solving for the gravitational forces term and the velocity-dependent forces term. A mapping from the simplified model to the original model may be determined using, e.g., numerical optimization.

Abstract: Embodiments of a robotic inventory system are provided that include a mobile robot for inventorying an inventory area, such as store or warehouse. The mobile robot can move through the inventory area collecting data from tagged items (e.g., RFID tags). Based on the collected data, the robotic inventory system can determine the items in the inventory area and the location of those items. In some embodiments, no additional infrastructure is needed for the installation of the robotic inventory system. This can allow, for example, the inventorying system to be shipped to an end customer and used by the end customer without having a professional installer setup the robot and/or the inventorying system.

Abstract: Devices and methods for a low latency data telecommunication system and method for video, audio control data and other data for use with one or more robots and remote controls are disclosed. The data transmission can be digital. The data telecommunication system can enable the use of multiple robots and multiple remote controls in the same location with encrypted data transmission.

Abstract: An automated food preparation system is described. It allows precise, automated control of the food preparation process, and has the ability to perform an automated cleanup. It comprises at least one manipulator to process and move ingredients, a control system, an autonomously accessible ingredient storage system, and at least one cooking receptacle.

Abstract: A gait generating device 32 includes a desired particular-site motion velocity value determining unit 45 that uses a quadratic evaluation function having a particular-site motion velocity vector ?Vb as a variable and a linear matrix inequality having ?Vb as a variable to sequentially determine, as a desired value ?Vb_cmd2 of ?Vb, a value of ?Vb that can minimize the value of the evaluation function within a range in which a restriction condition that the linear matrix inequality holds is satisfied, by arithmetic processing according to a solution method for a quadratic programming problem. The device then integrates ?Vb_cmd2 to sequentially determine desired values of the position and posture of the particular site (the body) 2 of the robot 1. The linear matrix inequality is set to satisfy a condition restricting the operations of the joints between the particular site 2 and the distal portion of each leg link 3.

Abstract: Disclosed are a multi-purposed, self-propelled device and method for operation of the self-propelled device. Certain variations can include a spherical housing having an internal drive system and a multifunctional payload space for use in a variety of applications.

Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

Abstract: A danger presentation device includes a worker position acquisition unit configured to acquire a worker position which is a position of a worker; a worker view range determination unit configured to determine a view range of the worker depending on the worker position acquired by the worker position acquisition unit; a position/posture determination unit configured to determine a position/posture which contains at least one of a position of a robot and a posture of the robot at a specific time in which at least a part of the robot which operates in accordance with a motion planning is included in the view range; and an image generation unit configured to generate image data for illustrating the position/posture determined by the position/posture determination unit.

Abstract: An apparatus, method and computer-readable medium planning a path of a robot by planning an optimal path while satisfying a dynamic constraint. In a process of searching for a motion path from a start point to a goal point while extending a tree from a start point of a configuration space to generate a path, along which a manipulator of the robot is moved in order to perform a task, an optimal path is generated responsive to the dynamic constraint of the manipulator of the robot to generate stable motion satisfying momentum and Zero Moment Position (ZMP) constraint. Accordingly, path planning performance is improved and a path satisfying a kinematic constraint and a dynamic constraint is rapidly obtained.

Abstract: Disclosed is a robot control device including a means for determining control inputs classified by state quantity for achieving respective target values of a plurality of types of state quantities of a robot, and a means for determining a synthesized control input by synthesizing control inputs classified by frequency region while determining control inputs classified by frequency region in a plurality of respective frequency regions, according to control inputs classified by state quantity. The means determines a control input classified by frequency region corresponding to any one of the frequency regions by synthesizing the plurality of control inputs classified by state quantity in a mutually non-interfering manner. The operation of the robot is controlled so that, under a variety of operating conditions of the robot, a plurality of types of state quantities are efficiently controlled to target values which correspond to the respective types of state quantities.

Abstract: A mobile robot includes a robot chassis having a forward end, a rearward end and a center of gravity. The robot includes a driven support surface to propel the robot and first articulated arm rotatable about an axis located rearward of the center of gravity of the robot chassis. The arm is pivotable to trail the robot, rotate in a first direction to raise the rearward end of the robot chassis while the driven support surface propels the chassis forward in surmounting an obstacle, and to rotate in a second opposite direction to extend forward beyond the center of gravity of the robot chassis to raise the forward end of the robot chassis and invert the robot endwise.

Abstract: A robot simulator includes a generating unit, a display unit, a display control unit, and a simulation instructing unit. The generating unit generates a virtual image that includes a virtual robot obtained by imaging an actual robot having at least one axis and an operation handle capable of operating three-dimensional coordinate axes having a predetermined control point of the virtual robot as the origin. The display control unit displays on the display unit the generated virtual image. The simulation instructing unit, when an operator's operation for the operation handle is received, acquires at least one of a displacement amount of the control point and a rotation amount of the three-dimensional coordinate axes attributable to the operator's operation, and instructs the generating unit to regenerate the virtual image in which a posture of the virtual robot is changed in accordance with the displacement amount or the rotation amount thus acquired.

Abstract: Provided is a method including receiving information on a surrounding situation detected by the mobile robot; detecting birds from the received surrounding situation information; allocating a birds control mission to the mobile robot by extracting a birds control pattern corresponding to the surrounding situation; and verifying a result in accordance with performing the allocated birds control mission from the mobile robot. By controlling the birds so as to, in advance, prevent a loss of lives and economical loss which may be caused when the birds collide with airplanes at the airport, it is possible to improve productivity and efficiency of a birds repelling job in an airport and provide construction of a new type of aviation maintenance business model by activating an air traffic control industry through providing a safer airplane operating model while saving operating personnel costs for preventing collision of birds.

Abstract: Provided is a control system and the like capable of deriving at high speed a solution to the optimization problem of combinations of continuous state variable and discrete state variables. According to the control system, by setting a search range (first search range) of internal action candidates ai1 for an internal module mod1 smaller than a search range (second search range) of external action candidates ai2 for a low-frequency external module mod2, the arithmetic computing speed is accelerated accordingly. Thereby, when it is necessary for a robot R to cope with a disturbance emergently on the basis of measured state values of the robot R, the operation of robot R can be controlled according to the arithmetic computing result from the high-frequency internal module mod1 without waiting for the arithmetic computing result form the low-frequency external module mod2.

Abstract: A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.

Abstract: A robotic climbing platform has a chassis and a carriage adapted to support and move the chassis relative to a climbing surface. An adhesion mechanism provides an adhesion force between the climbing platform and the climbing surface. The adhesion mechanism has one or more suction pads adapted to retain an adhesion force between the climbing platform and the climbing surface during movement of the chassis relative to the climbing surface.

Abstract: An apparatus includes a robotic positioning device and a locating mat. The locating mat includes a location pattern and can be disposed on a floor at a desired position relative to a movable cradle of an imaging system. The robotic positioning device is configured to be disposed, at least partially, above the locating mat. The robotic positioning device includes a docking device that includes an optical device and a guide manipulator supported on the docking device. The guide manipulator can be positioned relative to the movable cradle based, at least partially, on image data associated with the optical device and the location pattern of the locating mat. The guide manipulator can position an instrument guide relative to a patient disposed on the movable cradle.

Abstract: A manufacturing system has one or more work cells that each performs one or more manufacturing processes. The system also has one or more mobile transport units (“MTUs”) that deliver transportable containers containing workpieces to and from said work cells. The MTUs deliver the containers to the work cells in a manner such that the workpieces are localized in the work cells. The manufacturing system also has a computer system that has status information for each of the one or more MTUs and uses the status information to control each of the one or more MTUs to deliver the transportable containers to and from the one or more work cells.

Abstract: A method for controlling a robot cleaner includes: detecting a cleaning target space, setting a cleaning region within the detected cleaning space and cleaning the set cleaning region; if the set cleaning region is completely cleaned, moving to a not-yet-cleaned region adjacent to a cleaning completion spot of the cleaning region; and setting a new cleaning region in the not-yet-cleaned region and performing cleaning. Without repeating a cleaning region in the cleaning target space, the robot cleaner can extend its cleaning region, so the cleaning efficiency of the robot cleaner can be improved. Also, the robot cleaner can be smoothly enter a new cleaning target space or released therefrom. In particular, even when the entrance of the new cleaning target space is narrow, the robot cleaner can smoothly enter the new cleaning target space and gets out thereof.

Abstract: A driving wheel of a robot moving along a wire includes an inner wheel in which a rotation axis being driven to rotate by a motor is fitted, an outer wheel formed to surround the inner wheel and seated on the wire, and a shock absorbing support to elastically connect and support the inner wheel and the outer wheel between the inner wheel and the outer wheel, and a shock being transmitted is absorbed by allowing a relative movement of the inner wheel and the outer wheel by the elastic movement of the shock absorbing support. A robot moving includes a robot body, the driving wheel, a motor to drive the driving wheel by rotating the rotation axis, a connecting arm to connect and support the driving wheel and the robot body.

Abstract: Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture.

Abstract: A navigational control system for altering movement activity of a robotic device operating in a defined working area, comprising a transmitting subsystem integrated in combination with the robotic device, the transmitting subsystem comprising means for emitting a number of directed beams, each directed beam having a predetermined emission pattern, and a receiving subsystem functioning as a base station that includes a navigation control algorithm that defines a predetermined triggering event for the navigational control system and a set of detection units positioned within the defined working area in a known spaced-apart relationship, the set of detection units being configured and operative to detect one or more of the directed beams emitted by the transmitting system.

Abstract: Devices, systems, and methods for inspecting and objectively analyzing the condition of a roof are presented. A vehicle adapted for traversing and inspecting an irregular terrain includes a chassis having a bottom surface that defines a higher ground clearance at an intermediate location, thereby keeping the center of mass low when crossing roof peaks. In another embodiment, the drive tracks include a partially collapsible treads made of resilient foam. A system for inspecting a roof includes a lift system and a remote computer for analyzing data. Vehicles and systems may gather and analyze data, and generate revenue by providing data, analysis, and reports for a fee to interested parties.

Abstract: A telepresence robot may include a drive system, a control system, an imaging system, and a mapping module. The mapping module may access a plan view map of an area and tags associated with the area. In various embodiments, each tag may include tag coordinates and tag information, which may include a tag annotation. A tag identification system may identify tags within a predetermined range of the current position and the control system may execute an action based on an identified tag whose tag information comprises a telepresence robot action modifier. The telepresence robot may rotate an upper portion independent from a lower portion. A remote terminal may allow an operator to control the telepresence robot using any combination of control methods, including by selecting a destination in a live video feed, by selecting a destination on a plan view map, or by using a joystick or other peripheral device.