Semantic path planning for indoor navigation and household tasks

Sun, Nico and Yang, Erfu and Corney, Jonathan and Chen, Yi; Althoefer, Kaspar and Konstantinova, Jelizaveta and Zhang, Ketao, eds. (2019) Semantic path planning for indoor navigation and household tasks. In: Towards Autonomous Robotic Systems. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) . Springer-Verlag, GBR, pp. 191-201. ISBN 9783030253318

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    Abstract

    Assisting people with daily living tasks in their own homes with a robot requires a navigation through a cluttered and varying environment. Sometimes the only possible path would be blocked by an obstacle which needs to be moved away but not into other obstructing regions like the space required for opening a door. This paper presents semantic assisted path planning in which a gridded semantic map is used to improve navigation among movable obstacles (NAMO) and partially plan simple household tasks like cleaning a carpet or moving objects to another location. Semantic planning allows the execution of tasks expressed in human-like form instead of mathematical concepts like coordinates. In our numerical experiments, spatial planning was completed well within a typical human-human dialogue response time, allowing for an immediate response by the robot.

    Creators(s): Sun, Nico, Yang, Erfu ORCID logoORCID: https://orcid.org/0000-0003-1813-5950, Corney, Jonathan ORCID logoORCID: https://orcid.org/0000-0003-1210-3827 and Chen, Yi; Althoefer, Kaspar, Konstantinova, Jelizaveta and Zhang, Ketao
    Item type:Book Section
    ID code:73598
    Keywords:navigation among movable obstacles, robotics, semantic map, semantic path planning, Electronic computers. Computer science, Theoretical Computer Science, Computer Science(all)
    Subjects:Science > Mathematics > Electronic computers. Computer science
    Department:Faculty of Engineering > Design, Manufacture and Engineering Management
    Strategic Research Themes > Innovation Entrepreneurship
    Depositing user: Pure Administrator
    Date deposited:13 Aug 2020 14:07
    Last modified:20 Jan 2021 16:20
    Related URLs:
    URI:https://strathprints.strath.ac.uk/id/eprint/73598
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