Symbolic Navigation with a Generic Map

Authors:
Dongsung Kim;Ramakant Nevatia
Affiliations:
Schoold of Electronic Engineering, Soongsil University, 1 Sangdo-Dong, Dongjak-Gu, Seoul, 156-743, Korea. dongsung@saint.soongsil.ac.kr;Institute for Robotics and Intelligent Systems, Computer Science Department, University of Southern California, Los Angeles, CA90089-0273, USA. nevatia@iris.usc.edu
Venue:
Autonomous Robots
Year:
1999

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Indoor robot navigation with a generic map

Indoor robot navigation with a generic map

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Abstract

We describe a robot system that can navigate in indoorenvironments, such as office buildings and laboratories, withouthaving a detailed map of its environment and which can accept symboliccommands such as “go through the door on the left of the first deskon your right” (expressed in a formal language). Such a system canoperate in different instances of similar environments and does notrequire the effort of constructing a detailed map of theenvironment. It is also not sensitive to changes in the environmentsuch as those caused by moving furniture. It uses genericrepresentations of the objects in the environment such as walls, desksand doors to recognize them for the purposes of landmark detection andavoids obstacles which may not be modeled explicitly.