A neurosymbolic hybrid approach for landmark recognition and robot localization

Authors:
Paolo Coraggio;Massimo De Gregorio
Affiliations:
Robot Nursery Laboratory, DSF, Università di Napoli "Federico II", Naples, Italy;Istituto di Cibernetica "Eduardo Caianiello", CNR, Pozzuoli, NA, Italy
Venue:
BVAI'07 Proceedings of the 2nd international conference on Advances in brain, vision and artificial intelligence
Year:
2007

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Abstract

Robot self localization is a crucial issue in autonomous robotic research. In the last years, several approaches have been proposed to solve this problem. In this paper, we describe a landmark based neurosymbolic hybrid approach to tackle the global localization problem. We use the same approach to cope with the whole problem: from landmark recognition to position estimation. The map given to the robot is interpreted by a neurosymbolic system (formed by a weightless neural network and a BDI agent) for extracting landmark information. A "virtual neural sensor" is used, during robot navigation, for detecting the landmarks in the real environment. These information (map and detected landmarks) are finally processed by a unified neurosymbolic hybrid system (NSP) for determining the robot location on the given map.