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Maintaining coherent perceptual information using anchoring
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0002-3122-693X
Örebro University, Department of Technology. (Mobile Robotics Lab)
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
2005 (English)In: Proceedings of the 19th international joint conference on Artificial intelligence, 2005, p. 1477-1482Conference paper, Published paper (Refereed)
Abstract [en]

The purpose of this paper is to address the problem of maintaining coherent perceptual information in a mobile robotic system working over extended periods of time, interacting with a user and using multiple sensing modalities to gather information about the environment and specific objects. We present a system which is able to use spatial and olfactory sensors to patrol a corridor and execute user requested tasks. To cope with perceptual maintenance we present an extension of the anchoring framework capable of maintaining the correspondence between sensor data and the symbolic descriptions referring to objects. It is also capable of tracking and acquiring information from observations derived from sensor-data as well as information from a priori symbolic concepts. The general system is described and an experimental validation on a mobile robot is presented.

Place, publisher, year, edition, pages
2005. p. 1477-1482
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3894OAI: oai:DiVA.org:oru-3894DiVA, id: diva2:138193
Conference
19th international joint conference on Artificial intelligence, Edinburgh, UK, August 2005
Available from: 2007-08-06 Created: 2007-08-06 Last updated: 2018-01-13Bibliographically approved

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Loutfi, AmyCoradeschi, SilviaSaffiotti, Alessandro

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