Building Multiversal Semantic Maps for Mobile Robot Operation

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• 作者：Jose-Raul Ruiz-Sarmiento ; ^{jotaraul@uma.es} ; ^{jotaraul@gmail.com} ; Cipriano Galindo ^{cipriano@ctima.uma.es} ; Javier Gonzalez-Jimenez ^{javiergonzalez@uma.es}
• 关键词：Semantic maps ; Mobile robots ; Symbol grounding ; Conditional random fields ; Ontologies ; Uncertainty handling
• 刊名：Knowledge-Based Systems
• 出版年：2017
• 出版时间：1 March 2017
• 年：2017
• 卷：119
• 期：Complete
• 页码：257-272
• 全文大小：6554 K
• 卷排序：119

文摘

A probabilistic stance is proposed for tackling the symbol grounding problem. The outcome of such grounding is accommodated in a novel semantic map representation. This semantic map considers different interpretations of the robot workspace. A more coherent robot operation is achieved by exploring such interpretations. Our proposal has been assessed employing the Robot@Home dataset.