A multivalued logic approach to integrating planning and control
Artificial Intelligence - Special volume on planning and scheduling
Conditional Progressive Planning: A Preliminary Report
SCAI '01 Proceedings of the Seventh Scandinavian Conference on Artificial Intelligence
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
Grounding commonsense knowledge in intelligent systems
Journal of Ambient Intelligence and Smart Environments
Information fusion for visual reference resolution in dynamic situated dialogue
PIT'06 Proceedings of the 2006 international tutorial and research conference on Perception and Interactive Technologies
Grounding commonsense knowledge in intelligent systems
Journal of Ambient Intelligence and Smart Environments
Towards concept anchoring for cognitive robots
Intelligent Service Robotics
Semantic world modeling using probabilistic multiple hypothesis anchoring
Robotics and Autonomous Systems
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The purpose of this paper is to address the problem of maintaining coherent perceptual information in a mobile robotic system working over extended periods of time, interacting with a user and using multiple sensing modalities to gather information about the environment and specific objects. We present a system which is able to use spatial and olfactory sensors to patrol a corridor and execute user requested tasks. To cope with perceptual maintenance we present an extension of the anchoring framework capable of maintaining the correspondence between sensor data and the symbolic descriptions referring to objects. It is also capable of tracking and acquiring information from observations derived from sensor-data as well as information from a priori symbolic concepts. The general system is described and an experimental validation on a mobile robot is presented.