Probabilistic Relational Reasoning in Semantic Robot Navigation
We examine the use of semantic web resources in robot nav- igation; more specifically, in qualitative navigation where uncertain rea- soning plays a significant ... 2.1 Perception: semantic information and probabilistic reasoning. This module ...
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Online Learning Techniques for Improving Robot Navigation in
4 Onboard and Overhead Robot Perception in Unfamiliar Domains ..... Operating under uncertainty is a central requirement of most non-trivial mobile robot ..... a combination of semantic and geometric data as described in Figure 3.10 .
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Probabilistic Algorithms in Robotics - Sebastian Thrun
bilistic paradigm pays tribute to the inherent uncertainty in robot perception, ... as GPS. Additionally, probabilistic algorithms make much weaker .... a sensor beam to its expected distance computed by ray tracing, under the ...... A robot exploration and mapping strategy based on a semantic hierarchy of spatial representa-.
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Toward Mobile Robots Reasoning Like Humans - Association for the
mand the robot to “navigate quickly to the back of the build- ing that is behind the car. ... and uncertainty due to perception and motion constraints. While numerous ... (Section 5), prediction (Section 6), and language under- standing (Section 7). ... nipulate objects, and perceive semantic objects and hazards. Rather than ...
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Semantic Mapping with Mobile Robots - DiVA
Computer Vision and Active Perception. School of ... is introduced and used for mobile robot localization as well as categorization and extraction of spatial ..... G Exploiting Probabilistic Knowledge under Uncertain Sensing for. Efficient Robot ... with additional functionalities such as visual navigation  or teleoperation [ 38].
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Searching Objects in Large-Scale Indoor Environments - Intelligent
important because of two reasons, first, robot perception is ... robots can use semantic environment models to perform ob- ... autonomous navigation of the robot. In order ..... ploiting probabilistic knowledge under uncertain sensing for efficient.
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Semantic Object Search in Large-scale Indoor Environments
important because of two reasons, first, robot perception is ... explain how we represent the semantic environment models ... for the autonomous navigation of the robot. ..... ploiting probabilistic knowledge under uncertain sensing for efficient.
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Robot Planning in the Real World: Research Challenges and
utilizes information from the robot's sensing and perception systems, might be ... higher-level task planning to planning under uncertainty and to interaction ... to navigate in human environments (without necessarily needing arms for ..... be relatively easily perceived by a robot, but the semantics of perceived objects are.
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here - of Andrzej Pronobis
order to autonomously navigate in it and talk about it. ... Conducting research on semantic perception and modeling of human environments using ..... and H. Zender, “Dora: A robot that plans and acts under uncertainty,” in 35th German.
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Using fuzzy sets to represent uncertain spatial knowledge in
in recent years, autonomous robot navigation still requires a better understanding of the processes involved in spatial perception and rep- resentation. .... we represent objects which are classi ed according to their semantic type (e.g., a door); this ..... Iridia under support by the Communaut e Fran caise de Belgique. Notes.
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Robots that change their world: Inferring Goals from Semantic
a mobile robot with semantic knowledge, and with the ability to reason from this ... reasoning system, a task planner, as well as standard perception and navigation routines. ... and executing tasks under uncertainty, goal autonomy has.
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RoboEarth Semantic Mapping: A Cloud - Dorian Gálvez-López
knowledge in the robot perceptions by means of the SLAM map of objects. RoboEarth boosts ... the RoboEarth semantic mapping for robot systems, showing the benefits of the ..... of perception and navigation capabilities that are detailed in. Section V. ...... object search in unknown environments using uncertain semantics.”.
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Using occupancy grids for mobile robot perception and navigation
robot perception and world modeling that uses a ... uncertainty and errors have to be handled. Precompiled maps ..... interpretation is fundamentally an under- constrained ..... A framework for occupancy-grid-based robot navigation. New robot.
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Exploiting Probabilistic Knowledge under Uncertain Sensing for
task and observation planning under uncertainty in pursuit of its current ... order to allow the robot to effectively exploit this knowledge, .... using the navigation graph defined by the connectivity rela- tions. ..... Handling uncertainty in semantic -knowledge based ex- ... Perception and Modeling for Mobile Manipulation, 2010 .
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A Robotic World Model Framework Designed to Facilitate Human
Jun 17, 2011 ... robot to store and use semantic information from a ... systems that populate it ( perception systems) or use it to ... mation sharing, robot navigation, and use by external .... the uncertainty present in the sensing outputs (e.g.,.
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Perception-Driven Navigation - CiteSeerX
Perception-Driven Navigation: Active Visual SLAM for Robotic Area ... evaluated only by the uncertainty of the robot and the map,. This work was supported by the Office of Naval Research under awards. N00014-07-1-0791 and ...... SLAM for bounded- error area coverage,” in IROS Workshop on Active Semantic Perception,.
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Discrete Bayesian Models for Mobile-Robot Navigation
Acting under Uncertainty: Discrete Bayesian Models for. Mobile-Robot ... uncertainty for mobile-robot navigation, but the ques- tion of how ... develop a set of robust low-level perception and action routines ..... The resulting semantics of the.
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Active Exploration for Robust Object Detection - Robotics Research
INTRODUCTION. Years of steady progress in robotic mapping and navigation ... workspace require the addition of semantic information into traditional ... improve its perception. ... progress in forward search for planning under uncertainty, we ...
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Combined Vision and Frontier-Based Exploration Strategies for - Hal
Oct 12, 2012 ... how an uncertainty reduction strategy makes it possible to reduce ... occupancy grid is complete and that all the objects of the environment have been perceived. ... in the frame of the “CAROTTE” competition and funded by ANR under ... The semantic map build by our robot integrates the 2D metric map of ...
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paper - RoboHow
improved by directing the robot towards the most likely object locations. ... the object under consideration. Narrowing the ..... semantic camera to perceive objects in the environment. The ... search monitor, a particular search method, a navigation rou- ..... abilistic knowledge under uncertain sensing for efficient robot be-.
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