Simultaneous Localisation and Mapping to Reach Linguistically-Defined Targets
Article No.: 14, Pages 1 - 4
Abstract
This paper introduces a framework that allows humans to give highly abstract navigation instructions to mobile robots. It uses simultaneous localisation and mapping (SLAM) to navigate a mobile robot through an unknown environment and combines it with a structured, pseudo-human language for describing the navigation instructions. This combination allows for the design of mobile robot navigation systems that may use any SLAM algorithm and any language that satisfies certain requirements. The described framework delineates the requirements that the SLAM system and the language must meet for this combination to work. It operates on the basis of having a robot carry out a task other than to create a map, resulting in the robot being able to start moving towards its target before even mapping the environment. The core innovation is the definition of a method for driving robot movement in a way that balances between reducing map uncertainty and reaching the requested target. Our method generalises the state-of-art in that it falls back to the conventional explore-then-navigate paths in the absence of a specific target, but focuses on following the navigation instructions when such are provided.
References
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Hugh Durrant-Whyte and Tim Bailey. 'Simultaneous Localisation and Mapping (SLAM): Part I The Essential Algorithms.' Robotics and Automation Magazine. IEEE, 2006.
[3]
Tim Bailey and Juan Nieto. 'Scan-SLAM: Recursive Mapping and Localisation with Arbitrary-Shaped Landmarks.' In: Proc. Workshop on Quantitative Performance Evaluation of Navigation Solutions for Mobile Robots. Co-located with RSS '08, Zurich, 2008.
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Benjamin Tovar et al. 'Planning Exploration Strategies for Simultaneous Localization and Mapping.' Robotics and Autonomous Systems. Elsevier, 2006.
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Abhinav Gupta et al. "From 3D Scene Geometry to Human Workspace". In: Proc. Computer Vision and Pattern Recognition Conference (CVPR). 2011.
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Michael Montemerlo and Sebastian Thrun. 'Simultaneous Localization and Mapping with Unknown Data Association Using FastSLAM.' In: Proc. IEEE Intl Conf. Robotics and Automation (ICRA '03). 2003.
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Ioannis Kostavelis and Antonios Gasteratos. 'Semantic mapping for mobile robotics tasks: A survey.' Robotics and Autonomous Systems 66:86--103. Elsevier, April 2015.
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- Simultaneous Localisation and Mapping to Reach Linguistically-Defined Targets
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Published In
May 2016
249 pages
ISBN:9781450337342
DOI:10.1145/2903220
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- EETN: Hellenic Artificial Intelligence Society
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Association for Computing Machinery
New York, NY, United States
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Published: 18 May 2016
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