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A Unified Framework for Planning and Execution-Monitoring of Mobile Robots

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F11%3A00187117" target="_blank" >RIV/68407700:21230/11:00187117 - isvavai.cz</a>

  • Result on the web

  • DOI - Digital Object Identifier

Alternative languages

  • Result language

    angličtina

  • Original language name

    A Unified Framework for Planning and Execution-Monitoring of Mobile Robots

  • Original language description

    We present an original integration of high level planning and execution with incoming perceptual information from vision, SLAM, topological map segmentation and dialogue. The task of the robot system, implementing the integrated model, is to explore unknown areas and report detected objects to an operator, by speaking loudly. The knowledge base of the planner maintains a graph-based representation of the metric map that is dynamically constructed via an unsupervised topological segmentation method, andaugmented with information about the type and position of detected objects, within the map, such as cars or containers. According to this knowledge the cognitive robot can infer strategies in so generating parametric plans that are instantiated from theperceptual processes. Finally, a model-based approach for the execution and control of the robot system is proposed.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    JD - Use of computers, robotics and its application

  • OECD FORD branch

Result continuities

  • Project

    <a href="/en/project/7E10044" target="_blank" >7E10044: Natural human-robot cooperation in dynamic environments</a><br>

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2011

  • Confidentiality

    S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Data specific for result type

  • Article name in the collection

    Automated Action Planning for Autonomous Mobile Robots: Papers from the AAAI Workshop (WS-11-09)

  • ISBN

    978-1-57735-525-0

  • ISSN

  • e-ISSN

  • Number of pages

    6

  • Pages from-to

    39-44

  • Publisher name

    AAAI Press

  • Place of publication

    Menlo Park

  • Event location

    San francisco, California

  • Event date

    Aug 7, 2011

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article