A Hierarchical Concept Oriented Representation for Spatial Cognition in Mobile Robots

Robots are rapidly evolving from factory work-horses to robot-companions. The future of robots, as our companions, is highly dependent on their abilities to understand, interpret and represent the environment in an efficient and consistent fashion, in a way that is compatible to humans. The work presented here is oriented in this direction. It suggests a hierarchical, concept oriented, probabilistic representation of space for mobile robots. A salient aspect of the proposed approach is that it is holistic - it attempts to create a consistent link from the sensory information the robot acquires to the human-compatible spatial concepts that the robot subsequently forms, while taking into account both uncertainty and incompleteness of perceived information. The approach is aimed at increasing spatial awareness in robots.

• Type: Conference
• Year: 2006
• Where: AI50
• Authors: Shrihari Vasudevan, Stefan Gächter, Ahad Harati, Roland Siegwart
• Keywords: AI50 2006, Artificial Intelligence, Consistent Fashion, Human-compatible Spatial Concepts, Robot