# Mino's ROS 2-based companion behavior explained: three states of finding, following, and accompanying

- Source: Reddit r/robotics
- Published: 2026-10-30T12:26:34.000Z
- RoboHot: https://robohot.news/en/items/noqb7kwi30q9kkaw3029gv25l
- Original: https://www.reddit.com/r/robotics/comments/1xjdzmk/minos_companion_behavior_explained/

## Summary

Mino's companion behavior application is implemented on the Jetson Orin Nano based on ROS 2, with three states: finding a person, following, and accompanying; the video is its first outdoor test. The application uses open-source modules such as depth estimation, YOLO-World person detection and tracking, pose feedback, odometry, and motion control, and a coding agent assembled the behavior logic within a weekend. The robot perceives the person by 3D position and velocity, smooths the trajectory with a Kalman filter, and continuously sends head pose and chassis velocity commands to custom hardware.