Developing an autonomous human follower that doesn't rely on additional sensors or an environment map is a problem of relative localization. The position of user relative to Dobby needs to be tracked and known at all times to allow Dobby to follow the user without requiring an environment map. Further the user's smartphone needs to communicate this data to Dobby via Bluetooth.
We have started work on Bluetooth communication between Dobby and user on GATT protocol. Currently we have experimented with following libraries but haven't found a reliable one :
We have also developed an Android app for user's smartphone that can track his location by using the phone's magnetometer as a compass and by using dead-reckoning to get user's displacement and speed. Dead-reckoning relies on natural bounce of human body which can be measured using phone's accelerometer. Peaks in this data give information about user's speed and displacement. We are relying on a previously published work done by us on human gait analysis.