We provide an overview of our on-going work using spatial relations for mobile robot navigation. Using the histogram of forces, we show how linguistic expressions can be generated to describe a qualitative view of the robot with respect to its environment. The linguistic expressions provide a symbolic link between the robot and a human user, thus facilitating two-way, human-like communication. In this paper, we present two ways in which spatial relations can be used for robot navigation. First, egocentric spatial relations provide a robot-centered view of the environment. Navigation can be described in terms of spatial relations, such that a complete navigation task is generated as a sequence of navigation states with corresponding behaviors. Second, spatial relations can be used to analyze maps and facilitate their use in communicating navigation tasks. Examples are included using a comparable scene from both a robot environment and a PDA-sketched trajectory to show the corresponding generated linguistic spatial expressions.
Spatial relations for tactical robot navigation
2001
11 Seiten, 13 Quellen
Aufsatz (Konferenz)
Englisch
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