ICRA 2011 Paper Abstract


Paper WeP201.2

Hawes, Nick (University of Birmingham), Hanheide, Marc (University of Birmingham), Hargreaves, Jack (University of Birmingham), Page, Ben (University of Birmingham), Zender, Hendrik (German Research Center for Artificial Intelligence (DFKI)), Jensfelt, Patric (Royal Institute of Technology)

Home Alone: Autonomous Extension and Correction of Spatial Representations

Scheduled for presentation during the Regular Sessions "Cognitive Human-Robot Interaction" (WeP201), Wednesday, May 11, 2011, 15:40−15:55, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Personal Robots, Planning, Scheduling and Coordination, AI Reasoning Methods


In this paper we present an account of the problems faced by a mobile robot given an incomplete tour of an unknown environment, and introduce a collection of techniques which can generate successful behaviour even in the presence of such problems. Underlying our approach is the principle that an autonomous system must be motivated to act to gather new knowledge, and to validate and correct existing knowledge. This principle is embodied in Dora, a mobile robot which features the aforementioned techniques: shared representations, non-monotonic reasoning, and goal generation and management. To demonstrate how well this collection of techniques work in real-world situations we present a comprehensive analysis of the Dora system's performance over multiple tours in an indoor environment. In this analysis Dora successfully completed 18 of 21 attempted runs, with all but 3 of these successes requiring one or more of the integrated techniques to recover from problems.



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