Constructing abstract maps from spatial descriptions for goal-directed exploration
Schulz, Ruth, Talbot, Ben, Upcroft, Ben, & Wyeth, Gordon (2015) Constructing abstract maps from spatial descriptions for goal-directed exploration. In Robotics: Science and Systems 2015 Workshop on Model Learning for Human-Robot Communication, 16 July 2015, Rome, Italy. (Unpublished)
This paper describes ongoing work on a system using spatial descriptions to construct abstract maps that can be used for goal-directed exploration in an unfamiliar office environment. Abstract maps contain membership, connectivity, and spatial layout information extracted from symbolic spatial information. In goal-directed exploration, the robot would then link this information with observed symbolic information and its grounded world representation. We demonstrate the ability of the system to extract and represent membership, connectivity, and spatial layout information from spatial descriptions of an office environment. In the planned study, the robot will navigate to the goal location using the abstract map to inform the best direction to explore in.
Impact and interest:
Citation counts are sourced monthly from and citation databases.
These databases contain citations from different subsets of available publications and different time periods and thus the citation count from each is usually different. Some works are not in either database and no count is displayed. Scopus includes citations from articles published in 1996 onwards, and Web of Science® generally from 1980 onwards.
Citations counts from theindexing service can be viewed at the linked Google Scholar™ search.
Full-text downloads displays the total number of times this work’s files (e.g., a PDF) have been downloaded from QUT ePrints as well as the number of downloads in the previous 365 days. The count includes downloads for all files if a work has more than one.
|Item Type:||Conference Paper|
|Keywords:||Mobile robot, Navigation, Semantic map|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2015 [please consult the authors]|
|Deposited On:||28 Oct 2015 00:55|
|Last Modified:||28 Oct 2015 00:55|
Repository Staff Only: item control page