About: A Unified Framework for Planning and Execution-Monitoring of Mobile Robots

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	We present an original integration of high level planning and execution with incoming perceptual information from vision, SLAM, topological map segmentation and dialogue. The task of the robot system, implementing the integrated model, is to explore unknown areas and report detected objects to an operator, by speaking loudly. The knowledge base of the planner maintains a graph-based representation of the metric map that is dynamically constructed via an unsupervised topological segmentation method, and augmented with information about the type and position of detected objects, within the map, such as cars or containers. According to this knowledge the cognitive robot can infer strategies in so generating parametric plans that are instantiated from the perceptual processes. Finally, a model-based approach for the execution and control of the robot system is proposed. We present an original integration of high level planning and execution with incoming perceptual information from vision, SLAM, topological map segmentation and dialogue. The task of the robot system, implementing the integrated model, is to explore unknown areas and report detected objects to an operator, by speaking loudly. The knowledge base of the planner maintains a graph-based representation of the metric map that is dynamically constructed via an unsupervised topological segmentation method, and augmented with information about the type and position of detected objects, within the map, such as cars or containers. According to this knowledge the cognitive robot can infer strategies in so generating parametric plans that are instantiated from the perceptual processes. Finally, a model-based approach for the execution and control of the robot system is proposed. (en)
Title	A Unified Framework for Planning and Execution-Monitoring of Mobile Robots A Unified Framework for Planning and Execution-Monitoring of Mobile Robots (en)
skos:prefLabel	A Unified Framework for Planning and Execution-Monitoring of Mobile Robots A Unified Framework for Planning and Execution-Monitoring of Mobile Robots (en)
skos:notation	RIV/68407700:21230/11:00187117!RIV12-MSM-21230___
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(7E10044)
http://linked.open...vai/riv/dodaniDat	2012
http://linked.open...aciTvurceVysledku	Zimmermann, Karel Petříček, Tomáš Svoboda, Tomáš
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	184242
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/11:00187117
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	mobile robotics; automated planning; human-assisted exploration; object detection (en)
http://linked.open.../riv/klicoveSlovo	automated planning human-assisted exploration mobile robotics object detection
http://linked.open...ontrolniKodProRIV	[36CF60CEE618]
http://linked.open...v/mistoKonaniAkce	San francisco, California
http://linked.open...i/riv/mistoVydani	Menlo Park
http://linked.open...i/riv/nazevZdroje	Automated Action Planning for Autonomous Mobile Robots: Papers from the AAAI Workshop (WS-11-09)
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	3 (xsd:int)
http://linked.open...cetTvurcuVysledku	12 (xsd:int)
http://linked.open...vavai/riv/projekt	Natural human-robot cooperation in dynamic environments
http://linked.open...UplatneniVysledku	2011
http://linked.open...iv/tvurceVysledku	Colas, F. Gianni, M. Khambhaita, H. Kruijff, G. Liu, M. Papadakis, P. Petříček, Tomáš Pirri, F. Pomerleau, F. Svoboda, Tomáš Zender, H. Zimmermann, Karel
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2011-08-07 (xsd:date)
number of pages	6 (xsd:int)
http://purl.org/ne...btex#hasPublisher	AAAI Press
https://schema.org/isbn	978-1-57735-525-0
http://localhost/t...ganizacniJednotka	21230

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