Integrating multiple representations of spatial knowledge for mapping, navigation, and communication
Patrick Beeson, Matt MacMahon, Joseph Modayil, Aniket Murarka, Benjamin Kuipers, and Brian Stankiewicz. Integrating multiple representations of spatial knowledge for mapping, navigation, and communication. In Symposium on Interaction Challenges for Intelligent Assistants, AAAI Spring Symposium Series, Stanford, CA, March 2007. AAAI Technical Report SS-07-04.
Abstract
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.
Additional Information
BibTeX
@InProceedings{Beeson-sss-07,
author = {Patrick Beeson and Matt MacMahon and Joseph Modayil
and Aniket Murarka and Benjamin Kuipers and Brian
Stankiewicz},
title = {Integrating multiple representations of spatial
knowledge for mapping, navigation, and
communication},
booktitle = {Symposium on Interaction Challenges for Intelligent
Assistants},
year = 2007,
series = {AAAI Spring Symposium Series},
address = {Stanford, CA},
month = {March},
note = {AAAI Technical Report SS-07-04.},
abstract = {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.},
bib2html_pubtype ={Workshop},
bib2html_rescat ={Autonomous Vehicles},
bib2html_extra_info ={<a
href="http://personal.traclabs.com/~pbeeson/talks/Beeson-sss-07_talk.pdf">
Talk slides</a>},
}