Home alone: autonomous extension and correction of spatial representations

Hawes, Nick and Hanheide, Marc and Hargreaves, Jack and Page, Ben and Zender, Hendrik and Jensfelt, Patric (2011) Home alone: autonomous extension and correction of spatial representations. In: 2011 IEEE International Conference on Robotics and Automation (ICRA), 9-13 May 2011, University of Birmingham.

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Official URL: http://dx.doi.org/10.1109/ICRA.2011.5980004

Abstract

In this paper we present an account
of the problems faced by a mobile robot given
an incomplete tour of an unknown environment,
and introduce a collection of techniques which can
generate successful behaviour even in the presence
of such problems. Underlying our approach is the
principle that an autonomous system must be motivated
to act to gather new knowledge, and to validate
and correct existing knowledge. This principle is
embodied in Dora, a mobile robot which features
the aforementioned techniques: shared representations,
non-monotonic reasoning, and goal generation
and management. To demonstrate how well this
collection of techniques work in real-world situations
we present a comprehensive analysis of the Dora
system’s performance over multiple tours in an indoor
environment. In this analysis Dora successfully
completed 18 of 21 attempted runs, with all but
3 of these successes requiring one or more of the
integrated techniques to recover from problems.

Item Type:Conference or Workshop Item (Paper)
Additional Information:In this paper we present an account of the problems faced by a mobile robot given an incomplete tour of an unknown environment, and introduce a collection of techniques which can generate successful behaviour even in the presence of such problems. Underlying our approach is the principle that an autonomous system must be motivated to act to gather new knowledge, and to validate and correct existing knowledge. This principle is embodied in Dora, a mobile robot which features the aforementioned techniques: shared representations, non-monotonic reasoning, and goal generation and management. To demonstrate how well this collection of techniques work in real-world situations we present a comprehensive analysis of the Dora system’s performance over multiple tours in an indoor environment. In this analysis Dora successfully completed 18 of 21 attempted runs, with all but 3 of these successes requiring one or more of the integrated techniques to recover from problems.
Keywords:Robotics, Human-robot interaction
Subjects:H Engineering > H670 Robotics and Cybernetics
Divisions:College of Science > School of Computer Science
ID Code:6764
Deposited By: Marc Hanheide
Deposited On:02 Nov 2012 14:27
Last Modified:13 Mar 2013 09:18

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