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
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DOI - Digital Object Identifier
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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
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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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
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e-ISSN
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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
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