Semantic path planning for indoor navigation and household tasks

Nico Sun, Erfu Yang, Jonathan Corney, Yi Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution book

2 Downloads (Pure)

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.

Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems
Subtitle of host publication20th Annual Conference, TAROS 2019, London, UK, July 3–5, 2019, Proceedings, Part II
EditorsKaspar Althoefer, Jelizaveta Konstantinova, Ketao Zhang
Place of PublicationCham, Switzerland
PublisherSpringer-Verlag
Pages191-201
Number of pages11
ISBN (Print)9783030253318
DOIs
Publication statusPublished - 17 Jul 2019
Event20th Towards Autonomous Robotic Systems Conference, TAROS 2019 - London, United Kingdom
Duration: 3 Jul 20195 Jul 2019

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11650 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference20th Towards Autonomous Robotic Systems Conference, TAROS 2019
CountryUnited Kingdom
CityLondon
Period3/07/195/07/19

Keywords

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

Fingerprint Dive into the research topics of 'Semantic path planning for indoor navigation and household tasks'. Together they form a unique fingerprint.

Cite this