Semantic path planning for indoor navigation and household tasks

Research output: Contribution to conferencePoster

Abstract

Assisting people with daily living tasks in their own homes with a robot requires a navigation through a cluttered and varying environment. Sometimes the only possible path would be blocked by an obstacle which needs to be moved away but not into other obstructing regions like the space required for opening a door. This paper presents semantic assisted path planning in which a gridded semantic map is used to improve navigation among movable obstacles (NAMO) and partially plan simple household tasks like cleaning a carpet or moving objects to another location. Semantic planning allows the execution of tasks expressed in human-like form instead of mathematical concepts like coordinates. In our numerical experiments, spatial planning was completed well within a typical human-human dialogue response time, allowing for an immediate response by the robot.

Conference

ConferenceThe 20th Towards Autonomous Robotic Systems Conference (TAROS 2019)
Abbreviated titleTAROS 2019
CountryUnited Kingdom
CityLondon
Period3/07/195/07/19

Fingerprint

Motion planning
Navigation
Semantics
Robots
Planning
Cleaning
Experiments

Keywords

  • semantic path planning
  • robotics
  • semantic map
  • navigation among movable obstacles
  • mechatronics

Cite this

Sun, N., Yang, E., & Corney, J. (Accepted/In press). Semantic path planning for indoor navigation and household tasks. Poster session presented at The 20th Towards Autonomous Robotic Systems Conference (TAROS 2019), London, United Kingdom.
Sun, Nico ; Yang, Erfu ; Corney, Jonathan. / Semantic path planning for indoor navigation and household tasks. Poster session presented at The 20th Towards Autonomous Robotic Systems Conference (TAROS 2019), London, United Kingdom.11 p.
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keywords = "semantic path planning, robotics, semantic map, navigation among movable obstacles, mechatronics",
author = "Nico Sun and Erfu Yang and Jonathan Corney",
year = "2019",
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note = "The 20th Towards Autonomous Robotic Systems Conference (TAROS 2019), TAROS 2019 ; Conference date: 03-07-2019 Through 05-07-2019",

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Sun, N, Yang, E & Corney, J 2019, 'Semantic path planning for indoor navigation and household tasks' The 20th Towards Autonomous Robotic Systems Conference (TAROS 2019), London, United Kingdom, 3/07/19 - 5/07/19, .

Semantic path planning for indoor navigation and household tasks. / Sun, Nico; Yang, Erfu; Corney, Jonathan.

2019. Poster session presented at The 20th Towards Autonomous Robotic Systems Conference (TAROS 2019), London, United Kingdom.

Research output: Contribution to conferencePoster

TY - CONF

T1 - Semantic path planning for indoor navigation and household tasks

AU - Sun, Nico

AU - Yang, Erfu

AU - Corney, Jonathan

PY - 2019/4/26

Y1 - 2019/4/26

N2 - Assisting people with daily living tasks in their own homes with a robot requires a navigation through a cluttered and varying environment. Sometimes the only possible path would be blocked by an obstacle which needs to be moved away but not into other obstructing regions like the space required for opening a door. This paper presents semantic assisted path planning in which a gridded semantic map is used to improve navigation among movable obstacles (NAMO) and partially plan simple household tasks like cleaning a carpet or moving objects to another location. Semantic planning allows the execution of tasks expressed in human-like form instead of mathematical concepts like coordinates. In our numerical experiments, spatial planning was completed well within a typical human-human dialogue response time, allowing for an immediate response by the robot.

AB - Assisting people with daily living tasks in their own homes with a robot requires a navigation through a cluttered and varying environment. Sometimes the only possible path would be blocked by an obstacle which needs to be moved away but not into other obstructing regions like the space required for opening a door. This paper presents semantic assisted path planning in which a gridded semantic map is used to improve navigation among movable obstacles (NAMO) and partially plan simple household tasks like cleaning a carpet or moving objects to another location. Semantic planning allows the execution of tasks expressed in human-like form instead of mathematical concepts like coordinates. In our numerical experiments, spatial planning was completed well within a typical human-human dialogue response time, allowing for an immediate response by the robot.

KW - semantic path planning

KW - robotics

KW - semantic map

KW - navigation among movable obstacles

KW - mechatronics

M3 - Poster

ER -

Sun N, Yang E, Corney J. Semantic path planning for indoor navigation and household tasks. 2019. Poster session presented at The 20th Towards Autonomous Robotic Systems Conference (TAROS 2019), London, United Kingdom.