@inproceedings{86d419748e344fb2a5ae5fbd8a1adbd9,
title = "Semantic path planning for indoor navigation and household tasks",
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.",
keywords = "navigation among movable obstacles, robotics, semantic map, semantic path planning",
author = "Nico Sun and Erfu Yang and Jonathan Corney and Yi Chen",
year = "2019",
month = jul,
day = "17",
doi = "10.1007/978-3-030-25332-5_17",
language = "English",
isbn = "9783030253318",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer-Verlag",
pages = "191--201",
editor = "Kaspar Althoefer and Jelizaveta Konstantinova and Ketao Zhang",
booktitle = "Towards Autonomous Robotic Systems",
note = "20th Towards Autonomous Robotic Systems Conference, TAROS 2019 ; Conference date: 03-07-2019 Through 05-07-2019",
}