کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413534 680545 2008 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Robot task planning using semantic maps
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Robot task planning using semantic maps
چکیده انگلیسی

Task planning for mobile robots usually relies solely on spatial information and on shallow domain knowledge, such as labels attached to objects and places. Although spatial information is necessary for performing basic robot operations (navigation and localization), the use of deeper domain knowledge is pivotal to endow a robot with higher degrees of autonomy and intelligence. In this paper, we focus on semantic knowledge, and show how this type of knowledge can be profitably used for robot task planning. We start by defining a specific type of semantic maps, which integrates hierarchical spatial information and semantic knowledge. We then proceed to describe how these semantic maps can improve task planning in two ways: extending the capabilities of the planner by reasoning about semantic information, and improving the planning efficiency in large domains. We show several experiments that demonstrate the effectiveness of our solutions in a domain involving robot navigation in a domestic environment.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 56, Issue 11, 30 November 2008, Pages 955–966
نویسندگان
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