학술논문
Extracting navigation states from a hand-drawn map
Document Type
Conference
Author
Source
Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164) Robotics and automation Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on. 1:259-264 vol.1 2001
Subject
Language
ISSN
1050-4729
Abstract
Being able to interact and communicate with robots in the same way we interact with people has long been a goal of AI and robotics researchers. In this paper, we propose a novel approach to communicating a navigation task to a robot, which allows the user to sketch an approximate map on a PDA and then sketch the desired robot trajectory relative to the map. State information is extracted from the drawing in the form of relative, robot-centered spatial descriptions, which are used for task representation and as a navigation language between the human user and the robot. Examples are included of two hand-drawn maps and the linguistic spatial descriptions generated from the maps.