Semantic path planning for indoor navigation and household tasks

Nico Sun; Erfu Yang; Jonathan Corney; Yi Chen

doi:10.1007/978-3-030-25332-5_17

Semantic path planning for indoor navigation and household tasks

Nico Sun, Erfu Yang, Jonathan Corney, Yi Chen

School of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Assisting people with daily living tasks in their own homes with a robot requires a navigation through a cluttered and varying environment. Sometimes the only possible path would be blocked by an obstacle which needs to be moved away but not into other obstructing regions like the space required for opening a door. This paper presents semantic assisted path planning in which a gridded semantic map is used to improve navigation among movable obstacles (NAMO) and partially plan simple household tasks like cleaning a carpet or moving objects to another location. Semantic planning allows the execution of tasks expressed in human-like form instead of mathematical concepts like coordinates. In our numerical experiments, spatial planning was completed well within a typical human-human dialogue response time, allowing for an immediate response by the robot.

Original language	English
Title of host publication	Towards Autonomous Robotic Systems. TAROS 2019
Place of Publication	Cham, Switzerland
Publisher	Springer, Cham
Pages	191-201
Number of pages	11
ISBN (Electronic)	978-3-030-25332-5
ISBN (Print)	978-3-030-25331-8
DOIs	https://doi.org/10.1007/978-3-030-25332-5_17
Publication status	Published - 17 Jul 2019
Event	20th Towards Autonomous Robotic Systems Conference - Graduate Centre of Mile End campus - Queen mary University of London (QMUL), London , United Kingdom Duration: 3 Jul 2019 → 5 Jul 2019 Conference number: 20 https://www.qmul.ac.uk/robotics/events/taros2019/

Publication series

Name	Lecture Notes in Computer Science
Volume	11650

Conference

Conference	20th Towards Autonomous Robotic Systems Conference
Abbreviated title	TAROS 2019
Country/Territory	United Kingdom
City	London
Period	3/07/19 → 5/07/19
Internet address	https://www.qmul.ac.uk/robotics/events/taros2019/

Keywords

navigation among movable obstacles
robotics
semantic map
semantic path planning

Access to Document

10.1007/978-3-030-25332-5_17

http://www.scopus.com/inward/record.url?scp=85073899936&partnerID=8YFLogxK

Cite this

@inproceedings{be7efcb882b642919d23d177aa64fa9e,

title = "Semantic path planning for indoor navigation and household tasks",

abstract = "Assisting people with daily living tasks in their own homes with a robot requires a navigation through a cluttered and varying environment. Sometimes the only possible path would be blocked by an obstacle which needs to be moved away but not into other obstructing regions like the space required for opening a door. This paper presents semantic assisted path planning in which a gridded semantic map is used to improve navigation among movable obstacles (NAMO) and partially plan simple household tasks like cleaning a carpet or moving objects to another location. Semantic planning allows the execution of tasks expressed in human-like form instead of mathematical concepts like coordinates. In our numerical experiments, spatial planning was completed well within a typical human-human dialogue response time, allowing for an immediate response by the robot.",

keywords = "navigation among movable obstacles, robotics, semantic map, semantic path planning",

author = "Nico Sun and Erfu Yang and Jonathan Corney and Yi Chen",

year = "2019",

month = jul,

day = "17",

doi = "10.1007/978-3-030-25332-5_17",

language = "English",

isbn = "978-3-030-25331-8",

series = "Lecture Notes in Computer Science",

publisher = "Springer, Cham",

pages = "191--201",

booktitle = "Towards Autonomous Robotic Systems. TAROS 2019",

note = "20th Towards Autonomous Robotic Systems Conference, TAROS 2019 ; Conference date: 03-07-2019 Through 05-07-2019",

url = "https://www.qmul.ac.uk/robotics/events/taros2019/",

}

Sun, N, Yang, E, Corney, J & Chen, Y 2019, Semantic path planning for indoor navigation and household tasks. in Towards Autonomous Robotic Systems. TAROS 2019. Lecture Notes in Computer Science, vol. 11650, Springer, Cham, Cham, Switzerland, pp. 191-201, 20th Towards Autonomous Robotic Systems Conference, London , United Kingdom, 3/07/19. https://doi.org/10.1007/978-3-030-25332-5_17

TY - GEN

T1 - Semantic path planning for indoor navigation and household tasks

AU - Sun, Nico

AU - Yang, Erfu

AU - Corney, Jonathan

AU - Chen, Yi

N1 - Conference code: 20

PY - 2019/7/17

Y1 - 2019/7/17

N2 - Assisting people with daily living tasks in their own homes with a robot requires a navigation through a cluttered and varying environment. Sometimes the only possible path would be blocked by an obstacle which needs to be moved away but not into other obstructing regions like the space required for opening a door. This paper presents semantic assisted path planning in which a gridded semantic map is used to improve navigation among movable obstacles (NAMO) and partially plan simple household tasks like cleaning a carpet or moving objects to another location. Semantic planning allows the execution of tasks expressed in human-like form instead of mathematical concepts like coordinates. In our numerical experiments, spatial planning was completed well within a typical human-human dialogue response time, allowing for an immediate response by the robot.

AB - Assisting people with daily living tasks in their own homes with a robot requires a navigation through a cluttered and varying environment. Sometimes the only possible path would be blocked by an obstacle which needs to be moved away but not into other obstructing regions like the space required for opening a door. This paper presents semantic assisted path planning in which a gridded semantic map is used to improve navigation among movable obstacles (NAMO) and partially plan simple household tasks like cleaning a carpet or moving objects to another location. Semantic planning allows the execution of tasks expressed in human-like form instead of mathematical concepts like coordinates. In our numerical experiments, spatial planning was completed well within a typical human-human dialogue response time, allowing for an immediate response by the robot.

KW - navigation among movable obstacles

KW - robotics

KW - semantic map

KW - semantic path planning

U2 - 10.1007/978-3-030-25332-5_17

DO - 10.1007/978-3-030-25332-5_17

M3 - Conference contribution

SN - 978-3-030-25331-8

T3 - Lecture Notes in Computer Science

SP - 191

EP - 201

BT - Towards Autonomous Robotic Systems. TAROS 2019

PB - Springer, Cham

CY - Cham, Switzerland

T2 - 20th Towards Autonomous Robotic Systems Conference

Y2 - 3 July 2019 through 5 July 2019

ER -

Semantic path planning for indoor navigation and household tasks

Abstract

Publication series

Conference

Keywords

Access to Document

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Cite this