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Recovery planning for ambiguous cases in perceptual anchoring
Örebro University, Department of Technology. (Mobile Robotics Lab)
Örebro University, Department of Technology. (Mobile Robotics Lab)
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0002-0458-2146
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
2005 (English)In: Proceedings of the 20th national conference on Artificial intelligence, AAAI-05: volume 3, 2005, p. 1254-1260Conference paper, Published paper (Refereed)
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 and present planning-based methods to recover from them. 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
2005. p. 1254-1260
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3895ISBN: 978-1-57735-236-5 (print)OAI: oai:DiVA.org:oru-3895DiVA, id: diva2:138194
Conference
Proceedings of the 20th national conference on Artificial intelligence, AAAI-05, Pittsburgh, Pennsylvania
Available from: 2007-08-06 Created: 2007-08-06 Last updated: 2018-01-13Bibliographically approved

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Broxvall, MathiasCoradeschi, SilviaKarlsson, LarsSaffiotti, Alessandro

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