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2007

Integrating Multiple Representations of Spatial Knowledge for Mapping, Navigation, and Communication

10 years 2 days ago
Integrating Multiple Representations of Spatial Knowledge for Mapping, Navigation, and Communication
A robotic chauffeur should reason about spatial information with a variety of scales, dimensions, and ontologies. Rich representations of both the quantitative and qualitative characteristics of space not only enable robust navigation behavior, but also permit natural communication with a human passenger. We apply a hierarchical framework of spatial knowledge inspired by human cognitive abilities, the Hybrid Spatial Semantic Hierarchy, to common navigation tasks: safe motion, localization, map-building, and route planning. We also discuss the straightforward mapping between the variety of ways in which people communicate with a chauffeur and the framework’s heterogeneous concepts of spatial knowledge. We present pilot experiments with a virtual chauffeur.
Patrick Beeson, Matt MacMahon, Joseph Modayil, Ani
Added 02 Oct 2010
Updated 02 Oct 2010
Type Conference
Year 2007
Where ICIA
Authors Patrick Beeson, Matt MacMahon, Joseph Modayil, Aniket Murarka, Benjamin Kuipers, Brian Stankiewicz
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