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To secure an anchor: a recovery planning approach to ambiguity in perceptual anchoring
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0002-0458-2146
Örebro University, Department of Technology. (AASS)
Örebro University, Department of Technology. (AASS)
Örebro University, Department of Technology. (AASS)
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2008 (English)In: AI Communications, ISSN 0921-7126, E-ISSN 1875-8452, Vol. 21, no 1, p. 1-14Article in journal (Refereed) Published
Abstract [en]

An autonomous robot using symbolic reasoning, sensing and acting in a real environment needs the ability to create and maintain the connection between symbols representing objects in the world and the corresponding perceptual representations given by its sensors. This connection has been named perceptual anchoring. In complex environments, anchoring is not always easy to establish: the situation may often be ambiguous as to which percept actually corresponds to a given symbol.

In this paper, we extend perceptual anchoring to deal robustly with ambiguous situations by providing general methods for detecting them and recovering from them. We consider different kinds of ambiguous situations. We also present methods to recover from these situations based onautomatically formulating them as conditional planning problems that then are solved by a planner.

We illustrate our approach by showing experiments involving a mobile robot equipped with a color camera and an electronic nose.

Place, publisher, year, edition, pages
Amsterdam: IOS Press , 2008. Vol. 21, no 1, p. 1-14
Keywords [en]
planning, cognitive robotics, perceptual anchoring
National Category
Computer Sciences Engineering and Technology Computer and Information Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-3486OAI: oai:DiVA.org:oru-3486DiVA, id: diva2:137783
Available from: 2007-07-19 Created: 2007-07-19 Last updated: 2018-01-13Bibliographically approved

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Karlsson, LarsBouguerra, AbdelbakiBroxvall, MathiasCoradeschi, SilviaSaffiotti, Alessandro

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CiteExportLink to record
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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf