Home alone: Autonomous extension and correction of spatial representations
2011 (English)Conference paper (Refereed)
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.
, Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729
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
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-148725DOI: 10.1109/ICRA.2011.5980004ISI: 000324383403023ScopusID: 2-s2.0-84871699021ISBN: 9781612843865OAI: oai:DiVA.org:kth-148725DiVA: diva2:745087
2011 IEEE International Conference on Robotics and Automation, ICRA 2011, 9 May 2011 through 13 May 2011, Shanghai
QC 201409092014-09-092014-08-112014-09-09Bibliographically approved