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Using semantic information for improving efficiency of robot task planning
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
2007 (English)Conference paper, Oral presentation only (Refereed)
Abstract [en]

The use of semantic information in robotics is an emergent field of research. As a supplement to other types of information, like geometrical or topological, semantics can improve mobile robot reasoning or knowledge inference, and can also facilitate human-robot communication. These abilities are particularly relevant for robots intended to operate in everyday environments populated by people, which typically involve a great number of objects, places, and possible actions. In this paper, we explore a novel usage of semantic information: as an improvement for task planning in complex scenarios like the mentioned ones, where other planners easily find intractable situations. More specifically, we propose to first construct a "semantic" plan composed of categories of objects, places, etc. that solves a "generalized" version of the requested task, and then to use that plan for discarding irrelevant information in the definitive planning carried out on the symbolic instances of those elements (that correspond to physical elements of the world with which the robot can operate). Our results using this approach are promising, and have been compared to other existing approaches.

Place, publisher, year, edition, pages
2007.
National Category
Engineering and Technology Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3878OAI: oai:DiVA.org:oru-3878DiVA, id: diva2:138177
Conference
Workshop on Semantic Information in Robotics, ICRA 2007, Roma, Italy
Available from: 2007-08-02 Created: 2007-08-02 Last updated: 2018-01-13Bibliographically approved

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Saffiotti, Alessandro

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