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Home alone: Autonomous extension and correction of spatial representations
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2011 (English)Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
2011. 3907-3914 p.
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keyword [en]
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
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-148725DOI: 10.1109/ICRA.2011.5980004ISI: 000324383403023Scopus ID: 2-s2.0-84871699021ISBN: 9781612843865 (print)OAI: oai:DiVA.org:kth-148725DiVA: diva2:745087
Conference
2011 IEEE International Conference on Robotics and Automation, ICRA 2011, 9 May 2011 through 13 May 2011, Shanghai
Note

QC 20140909

Available from: 2014-09-09 Created: 2014-08-11 Last updated: 2014-09-09Bibliographically approved

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Jensfelt, Patric

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CiteExportLink to record
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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
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