Robots need a suitable representation of the surrounding world to operate in a structured but dynamic environment. State-of-the-art approaches usually rely on a combination of metric and topological maps and require an expert to provide the knowledge to the robot in a suitable format. Therefore, additional symbolic knowledge cannot be easily added to the representation in an incremental manner. This work deals with the problem of effectively binding together the high-level semantic information with the low-level knowledge represented in the metric map by introducing an intermediate grid-based representation. In order to demonstrate its effectiveness, the proposed approach has been experimentally validated on different kinds of environments.

Automatic Extraction of Structural Representations of Environments / Capobianco, Roberto; Gemignani, Guglielmo; Bloisi, Domenico Daniele; Nardi, Daniele; Iocchi, Luca. - ELETTRONICO. - 302:(2014), pp. 721-733. ((Intervento presentato al convegno 13th Intelligent Autonomous System Conference tenutosi a Padova; Italy [10.1007/978-3-319-08338-4_52].

Automatic Extraction of Structural Representations of Environments

CAPOBIANCO, ROBERTO;GEMIGNANI, GUGLIELMO;BLOISI, Domenico Daniele;NARDI, Daniele;IOCCHI, Luca
2014

Abstract

Robots need a suitable representation of the surrounding world to operate in a structured but dynamic environment. State-of-the-art approaches usually rely on a combination of metric and topological maps and require an expert to provide the knowledge to the robot in a suitable format. Therefore, additional symbolic knowledge cannot be easily added to the representation in an incremental manner. This work deals with the problem of effectively binding together the high-level semantic information with the low-level knowledge represented in the metric map by introducing an intermediate grid-based representation. In order to demonstrate its effectiveness, the proposed approach has been experimentally validated on different kinds of environments.
13th Intelligent Autonomous System Conference
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04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Automatic Extraction of Structural Representations of Environments / Capobianco, Roberto; Gemignani, Guglielmo; Bloisi, Domenico Daniele; Nardi, Daniele; Iocchi, Luca. - ELETTRONICO. - 302:(2014), pp. 721-733. ((Intervento presentato al convegno 13th Intelligent Autonomous System Conference tenutosi a Padova; Italy [10.1007/978-3-319-08338-4_52].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/643939
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