A hierarchical concept oriented representation for spatial cognition in mobile robots

Authors:
Shrihari Vasudevan;Stefan Gächter;Ahad Harati;Roland Siegwart
Affiliations:
Autonomous Systems Laboratory, Swiss Federal Institute of Technology Zürich, Zürich, Switzerland;Autonomous Systems Laboratory, Swiss Federal Institute of Technology Zürich, Zürich, Switzerland;Autonomous Systems Laboratory, Swiss Federal Institute of Technology Zürich, Zürich, Switzerland;Autonomous Systems Laboratory, Swiss Federal Institute of Technology Zürich, Zürich, Switzerland
Venue:
50 years of artificial intelligence
Year:
2007

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Abstract

Robots are rapidly evolving from factory work-horses to robot-companions. The future of robots, as our companions, is highly dependent on their abilities to understand, interpret and represent the environment in an efficient and consistent fashion, in a way that is compatible to humans. The work presented here is oriented in this direction. It suggests a hierarchical, concept oriented, probabilistic representation of space for mobile robots. A salient aspect of the proposed approach is that it is holistic - it attempts to create a consistent link from the sensory information the robot acquires to the human-compatible spatial concepts that the robot subsequently forms, while taking into account both uncertainty and incompleteness of perceived information. The approach is aimed at increasing spatial awareness in robots.