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

Kód výsledku v 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>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

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Projekt

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

Návaznosti

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

Rok uplatnění

2011

Kód důvěrnosti údajů

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

Název statě ve sborníku

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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Počet stran výsledku

6

Strana od-do

39-44

Název nakladatele

AAAI Press

Místo vydání

Menlo Park

Místo konání akce

San francisco, California

Datum konání akce

7. 8. 2011

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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