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Supporting Mobile Robot's Tasks through Qualitative Spatial Reasoning

2012 Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics   unpublished
In this paper, we present an application of qualitative spatial reasoning technologies for supporting mobile robot tasks.  ...  While focusing on detection of interaction ability, we provide a combination of the spatial reasoning calculi RCC-8 and CDC as well as their integration with OWL-based ontologies.  ...  ACKNOWLEDGMENTS This work is supported by the RACE project, grant agreement no. 287752, funded by the EC Seventh Framework Program theme FP7-ICT-2011-7.  ... 
doi:10.5220/0004121803940399 fatcat:i3fee4eixncbddizwawshvpssy

Using Qualitative Spatial Relations for indirect object search

Lars Kunze, Keerthi Kumar Doreswamy, Nick Hawes
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
Finding objects in human environments requires autonomous mobile robots to reason about potential object locations and to plan to perceive them accordingly.  ...  In this paper we have designed, implemented and evaluated an approach for searching for objects on the basis of Qualitative Spatial Relations (QSRs) such as left-of and in-front-of.  ...  In the experiments, the robot was controlled through the task-level architecture SMACH 3 and the middleware ROS 4 .  ... 
doi:10.1109/icra.2014.6906604 dblp:conf/icra/KunzeDH14 fatcat:4plvlrezanekxitnet7yezcqju

Commonsense Spatial Reasoning for Visually Intelligent Agents [article]

Agnese Chiatti, Gianluca Bardaro, Enrico Motta, Enrico Daga
2021 arXiv   pre-print
Differently from prior approaches to qualitative spatial reasoning, the proposed framework is robust to variations in the robot's viewpoint and object orientation.  ...  In this paper, we present a framework for commonsense spatial reasoning which is tailored to real-world robotic applications.  ...  Differently from prior approaches to qualitative spatial reasoning in robotics, this framework is robust to variations in the robot's viewpoint and object orientation, thus ensuring scalability to many  ... 
arXiv:2104.00387v1 fatcat:mhidfl6kprdsbalznphuhpfi6y

Cognitive Tools for Humanoid Robots in Space

Donald Sofge, Dennis Perzanowski, Marjorie Skubic, Magdalena Bugajska, J. Gregory Trafton, Nicholas Cassimatis, Derek Brock, William Adams, Alan Scbultz
2004 IFAC Proceedings Volumes  
number of basic capabilities be incorporated into the robot, including voice recognition, natural language, and cognitive tools on-board the robot to facilitate interaction between humans and robots through  ...  ACKNOWLEDGEMENTS Support for this effort was provided by the DARPA IPTO Mobile Autonomous Robot Software (DARPA MARS) Program.  ...  For example, in tasks requiring direction generation, humans naturally use qualitative spatial relationships (Miller and Johnson-Laird, 1976; Tversky, 1993) such as "left," "up", "east," or "north."  ... 
doi:10.1016/s1474-6670(17)32199-7 fatcat:mmzrutoa6vaorhx2lmv2biiiky

Egocentric qualitative spatial knowledge representation for physical robots

T. Wagner, U. Visser, O. Herzog
2004 Robotics and Autonomous Systems  
In contrast to other techniques for mobile robot tasks, that also rely on landmarks it is also proposed to reason about their validity despite insufficient and insecure sensory data.  ...  Navigation is one of the most fundamental tasks to be accomplished by many types of mobile and cognitive systems.  ...  For example, more abstract reasoning tasks like planning coordinated behavior, e.g., counterattack and double pass, and plan recognition usually rely on more abstract, qualitative spatial representations  ... 
doi:10.1016/j.robot.2004.07.022 fatcat:haqwwjo2qrcybbwddpmqam4vj4

Planning and Explanations with a Learned Spatial Model

Susan L. Epstein, Raj Korpan, Michael Wagner
2019 Conference On Spatial Information Theory  
Together with the spatial model, the controller's reasoning framework allows it to explain and defend its decisions in accessible natural language.  ...  The model not only describes indoor space, but also supports robust, model-based planning.  ...  The robot's world is indoors, and the robot's sole sensor is a range finder that supports only two spatial dimensions.  ... 
doi:10.4230/lipics.cosit.2019.22 dblp:conf/cosit/EpsteinK19 fatcat:a5kul2ql2zbgjfsbod6rnjtpue

An Egocentric Qualitative Spatial Knowledge Representation Based on Ordering Information for Physical Robot Navigation [chapter]

Thomas Wagner, Kai Hübner
2005 Lecture Notes in Computer Science  
In contrast to other techniques for mobile robot tasks, that also rely on landmarks it is also proposed to reason about their validity despite insufficient and insecure sensory data.  ...  Navigation is one of the most fundamental tasks to be accomplished by many types of mobile and cognitive systems.  ...  EPR is meant to be a qualitative fundament for tasks that are important for mobile robot exploration.  ... 
doi:10.1007/978-3-540-32256-6_11 fatcat:oae2wmoqhrgnnjrumz3pbq5cwe

Integrated Intelligence for Human-Robot Teams [chapter]

Jean Oh, Thomas M. Howard, Matthew R. Walter, Daniel Barber, Menglong Zhu, Sangdon Park, Arne Suppe, Luis Navarro-Serment, Felix Duvallet, Abdeslam Boularias, Oscar Romero, Jerry Vinokurov (+11 others)
2017 Springer Proceedings in Advanced Robotics  
In this context, our research focuses on developing an intelligent robot that can autonomously perform non-trivial, but specific tasks conveyed through natural language.  ...  Toward this goal, a consortium of researchers develop and integrate various types of intelligence into mobile robot platforms, including cognitive abilities to reason about high-level missions, perception  ...  Agreement W911NF-10-2-0016, and in part by ONR under MURI grant "Reasoning in Reduced Information Spaces" (no.  ... 
doi:10.1007/978-3-319-50115-4_28 dblp:conf/iser/OhHWBZPSNDBRVKD16 fatcat:36bjfi6r6rfohpayq4kgiy4xiy

Spatial relations for tactical robot navigation

Majorie A. Skubic, George Chronis, Pascal Matsakis, James M. Keller, Grant R. Gerhart, Chuck M. Shoemaker
2001 Unmanned Ground Vehicle Technology III  
In this paper, we provide an overview of our on-going work using spatial relations for mobile robot navigation.  ...  Second, spatial relations can be used to analyze maps and facilitate their use in communicating navigation tasks.  ...  ACKNOWLEDGEMENTS The authors wish to acknowledge support from ONR, grant N00014-96-0439 and the IEEE Neural Network Council for a graduate student summer fellowship for Mr. Chronis.  ... 
doi:10.1117/12.439998 fatcat:6yubejy6n5finamgadmfqn2v3a

Learning Spatial Models for Navigation [chapter]

Susan L. Epstein, Anoop Aroor, Matthew Evanusa, Elizabeth I. Sklar, Simon Parsons
2015 Lecture Notes in Computer Science  
In extensive empirical testing, qualitative spatial reasoning principles that reference this model support increasingly effective navigation in a variety of built spaces.  ...  The approach reported here offers an alternative: navigation with a spatial model and commonsense qualitative spatial reasoning.  ...  This work work was supported in part by the National Science Foundation under IIS 11-17000, IIS 11-16843 and CNS 08-51901, and by The City University of New York, Collaborative Incentive Research Grant  ... 
doi:10.1007/978-3-319-23374-1_19 fatcat:adaq2uz33nfcleb3tmariaz2b4

WHY: Natural Explanations from a Robot Navigator [article]

Raj Korpan, Susan L. Epstein, Anoop Aroor, Gil Dekel
2017 arXiv   pre-print
Language generation here is based upon the robot's commonsense, its qualitative reasoning, and its learned spatial model.  ...  This work was supported in part by NSF 1625843. The authors thank the reviewers for their insightful comments.  ...  Along with commonsense qualitative reasoning, affordances are used to select the robot's next action.  ... 
arXiv:1709.09741v1 fatcat:jx6zu3tvjjdwbb5fnzszpxw4m4

Probabilistic self-localisation on a qualitative map based on occlusions

Paulo E. Santos, Murilo F. Martins, Valquiria Fenelon, Fabio G. Cozman, Hannah M. Dee
2016 Journal of experimental and theoretical artificial intelligence (Print)  
Spatial knowledge plays an essential role in human reasoning, permitting tasks such as locating objects in the world (including oneself), reasoning about everyday actions and describing perceptual information  ...  The approach herein proposed was systematically evaluated through experiments using a mobile robot equipped with a RGB-D sensor.  ...  Martins acknowledges support from FAPESP grant 2012/12640-1. Fabio Cozman is partially supported by CNPq.  ... 
doi:10.1080/0952813x.2015.1132265 fatcat:mqez4wijcnapddwp46gcy2ljom

Multimodal cognitive interface for robot navigation

Mohammed Elmogy, Christopher Habel, Jianwei Zhang
2011 Cognitive Processing  
We have developed a robot navigation system that uses both spatial language and graphical representation to describe route-based navigation tasks for a mobile robot.  ...  An emerging approach to doing this is to create cognitive models of human reasoning and behavior selection.  ...  We present a spatial language to describe route-based navigation tasks for a mobile robot.  ... 
doi:10.1007/s10339-010-0386-4 pmid:21203798 fatcat:hyniqov53jhtxc7ezxaodkpl7a

Schematic Maps for Robot Navigation [chapter]

Christian Freksa, Reinhard Moratz, Thomas Barkowsky
2000 Lecture Notes in Computer Science  
Schematic maps are knowledge representation structures to encode qualitative spatial information about a physical environment.  ...  Different requirements for local and global spatial information are noted. Different types of spatial representations for spatial knowledge are contrasted.  ...  The mapping task is supported by the use of qualitative spatial relations.  ... 
doi:10.1007/3-540-45460-8_8 fatcat:vs2yfaf24fhjfeaic5rsly3o64

Home alone: Autonomous extension and correction of spatial representations

Nick Hawes, Marc Hanheide, Jack Hargreaves, Ben Page, Hendrik Zender, Patric Jensfelt
2011 2011 IEEE International Conference on Robotics and Automation  
This principle is embodied in Dora, a mobile robot which features the aforementioned techniques: shared representations, non-monotonic reasoning, and goal generation and management.  ...  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  ...  Reasoning with changing spatial knowledge As a mobile robot, Dora requires a map-based spatial representation for localisation and navigation.  ... 
doi:10.1109/icra.2011.5980004 dblp:conf/icra/HawesHHPZJ11 fatcat:vtjfy45df5cehnynw3di2uudjq
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