Recovery planning for ambiguous cases in perceptual anchoring

Authors:
Mathias Broxvall;Silvia Coradeschi;Lars Karlsson;Alessandro Saffiotti
Affiliations:
Center for Applied Autonomous Sensor Systems, Dept. of Technology, Örebro University, Örebro, Sweden;Center for Applied Autonomous Sensor Systems, Dept. of Technology, Örebro University, Örebro, Sweden;Center for Applied Autonomous Sensor Systems, Dept. of Technology, Örebro University, Örebro, Sweden;Center for Applied Autonomous Sensor Systems, Dept. of Technology, Örebro University, Örebro, Sweden
Venue:
AAAI'05 Proceedings of the 20th national conference on Artificial intelligence - Volume 3
Year:
2005

Citing 8
Cited 3

Motion planning with uncertainty: a landmark approach

Artificial Intelligence - Special volume on planning and scheduling
A multivalued logic approach to integrating planning and control

Artificial Intelligence - Special volume on planning and scheduling
An Autonomous Spacecraft Agent Prototype

Autonomous Robots - Special issue on autonomous agents
Anchoring Symbols to Sensor Data: Preliminary Report

Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
Expressing Transformations of Structured Reactive Plans

ECP '97 Proceedings of the 4th European Conference on Planning: Recent Advances in AI Planning
Planning with Sensing for a Mobile Robot

ECP '97 Proceedings of the 4th European Conference on Planning: Recent Advances in AI Planning
Perceptual anchoring of symbols for action

IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1
Conditional progressive planning under uncertainty

IJCAI'01 Proceedings of the 17th international joint conference on Artificial intelligence - Volume 1

To secure an anchor - a recovery planning approach to ambiguity in perceptual anchoring

AI Communications
Situation Assessment for Sensor-Based Recovery Planning

Proceedings of the 2006 conference on ECAI 2006: 17th European Conference on Artificial Intelligence August 29 -- September 1, 2006, Riva del Garda, Italy
Semantic world modeling using probabilistic multiple hypothesis anchoring

Robotics and Autonomous Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

An autonomous robot using symbolic reasoning, sensing and acting in a real environment needs the ability to create and maintain the connection between symbols representing objects in the world and the corresponding perceptual representations given by its sensors. This connection has been named perceptual anchoring. In complex environments, anchoring is not always easy to establish: the situation may often be ambiguous as to which percept actually corresponds to a given symbol. In this paper. we extend perceptual anchoring to deal robustly with ambiguous situations by providing general methods for detecting them and recovering from them. We consider different kinds of ambiguous situations and present planning-based methods to recover from them. We illustrate our approach by showing experiments involving a mobile robot equipped with a color camera and an electronic nose.