Home alone: autonomous extension and correction of spatial representations

Hawes, N. and Hanheide, Marc and Hargreaves, J. and Page, B. and Zender, H. and Jensfelt, P. (2011) Home alone: autonomous extension and correction of spatial representations. In: Robotics and Automation (ICRA), 2011 IEEE International Conference on, 9-13 May 2011, Shanghai, China.

Full content URL: http://dx.doi.org/10.1109/ICRA.2011.5980004

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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. © 2011 IEEE.

Item Type:Conference or Workshop contribution (Paper)
Additional Information:Conference of 2011 IEEE International Conference on Robotics and Automation, ICRA 2011; Conference Date: 9 May 2011 through 13 May 2011; Conference Code: 94261
Keywords:Autonomous systems, Comprehensive analysis, Indoor environment, Integrated techniques, Non-monotonic reasoning, Real world situations, Spatial representations, System's performance, Unknown environments, Mobile robots, Navigation, Robotics
Subjects:G Mathematical and Computer Sciences > G400 Computer Science
Divisions:College of Science > School of Computer Science
ID Code:8353
Deposited By: Marc Hanheide
Deposited On:25 Mar 2013 11:05
Last Modified:04 Dec 2013 16:05

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