Semantic path planning for indoor navigation and household tasks

Nico Sun, Erfu Yang, Jonathan Corney, Yi Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution


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 languageEnglish
Title of host publicationTowards Autonomous Robotic Systems. TAROS 2019
Place of PublicationCham, Switzerland
PublisherSpringer, Cham
Number of pages11
ISBN (Electronic)978-3-030-25332-5
ISBN (Print)978-3-030-25331-8
Publication statusPublished - 17 Jul 2019
Event20th Towards Autonomous Robotic Systems Conference - Graduate Centre of Mile End campus - Queen mary University of London (QMUL), London , United Kingdom
Duration: 3 Jul 20195 Jul 2019
Conference number: 20

Publication series

NameLecture Notes in Computer Science


Conference20th Towards Autonomous Robotic Systems Conference
Abbreviated titleTAROS 2019
Country/TerritoryUnited Kingdom
Internet address


  • navigation among movable obstacles
  • robotics
  • semantic map
  • semantic path planning


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