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Project description (free text)
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;Background : Each region of a spatial robot map potentially has a meaning (semantics). For instance the map of house could be segmented into kitchen, corridor, bedroom, etc. The fact that these meanings are generated from what humans understand of their surrounding, is crucial for a successful communication (e.g. in HRI). On the other hand a robot becomes more “situation-aware” by knowing the semantic of its surrounding. The aim of this project is to integrate the kinematic/dynamic model of the robot into the spatial map of the environment. And employ an unsupervised method to identify the semantics of the environment while the “self” of the robot is also reflected in the spatial map. ;Objectives : The expectation is to bridge a robot’s self-awareness (e.g. traversability of a path based on its intrinsic models and the terrain), to the situation-awareness that is supposedly capable of estimating future state of the situation. ;Research Questions : How to integrate the intrinsic kinematic/dynamic models of a mobile robot seamlessly into the spatial map of the environment? How to identify ego-centric meanings that emerge from the integration of spatial maps and robot’s kinematic/dynamic model? ;Setup : Simulation, and experimental results the lab environment.
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