  This paper shows and evaluates a novel approach to integrate a non-invasive
Brain-Computer Interface (BCI) with the Robot Operating System (ROS) to
mentally drive a telepresence robot. Controlling a mobile device by using human
brain signals might improve the quality of life of people suffering from severe
physical disabilities or elderly people who cannot move anymore. Thus, the BCI
user is able to actively interact with relatives and friends located in
different rooms thanks to a video streaming connection to the robot. To
facilitate the control of the robot via BCI, we explore new ROS-based
algorithms for navigation and obstacle avoidance, making the system safer and
more reliable. In this regard, the robot can exploit two maps of the
environment, one for localization and one for navigation, and both can be used
also by the BCI user to watch the position of the robot while it is moving. As
demonstrated by the experimental results, the user's cognitive workload is
reduced, decreasing the number of commands necessary to complete the task and
helping him/her to keep attention for longer periods of time.
