Robots need a suitable representation of the surrounding world to operate in a structured but dynamic environment. State-of-the-art approaches usually rely on a combination of metric and topological maps and require an expert to provide the knowledge to the robot in a suitable format. Therefore, additional symbolic knowledge cannot be easily added to the representation in an incremental manner. This work deals with the problem of effectively binding together the high-level semantic information with the low-level knowledge represented in the metric map by introducing an intermediate grid-based representation. In order to demonstrate its effectiveness, the proposed approach has been experimentally validated on different kinds of environments.
CITATION STYLE
Capobianco, R., Gemignani, G., Bloisi, D. D., Nardi, D., & Iocchi, L. (2015). Automatic extraction of structural representations of environments. In Advances in Intelligent Systems and Computing (Vol. 302, pp. 721–733). Springer Verlag. https://doi.org/10.1007/978-3-319-08338-4_52
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