Integrating multiple representations of spatial knowledge for mapping, navigation, and communication

Patrick Beeson, Matt MacMahon, Joseph Modayil, Aniket Murarka, Benjamin Kuipers, and Brian Stankiewicz. Integrating multiple representations of spatial knowledge for mapping, navigation, and communication. In Symposium on Interaction Challenges for Intelligent Assistants, AAAI Spring Symposium Series, Stanford, CA, March 2007. AAAI Technical Report SS-07-04.

Abstract

A robotic chauffeur should reason about spatial information with a variety of scales, dimensions, and ontologies. Rich representations of both the quantitative and qualitative characteristics of space not only enable robust navigation behavior, but also permit natural communication with a human passenger. We apply a hierarchical framework of spatial knowledge inspired by human cognitive abilities, the Hybrid Spatial Semantic Hierarchy, to common navigation tasks: safe motion, localization, map-building, and route planning. We also discuss the straightforward mapping between the variety of ways in which people communicate with a chauffeur and the framework's heterogeneous concepts of spatial knowledge. We present pilot experiments with a virtual chauffeur.

Additional Information

Talk slides

BibTeX

@InProceedings{Beeson-sss-07,
  author =       {Patrick Beeson and Matt MacMahon and Joseph Modayil and
                  Aniket Murarka and Benjamin Kuipers and Brian Stankiewicz},
  title =        {Integrating multiple representations of spatial knowledge
                  for mapping, navigation, and communication},
  booktitle =    {Symposium on Interaction Challenges for Intelligent
                  Assistants},
  year =         2007,
  series =       {AAAI Spring Symposium Series},
  address =      {Stanford, CA},
  month =        {March},
  note =         {AAAI Technical Report SS-07-04.},
  abstract =     {A robotic chauffeur should reason about spatial information
                  with a variety of scales, dimensions, and ontologies. Rich
                  representations of both the quantitative and qualitative
                  characteristics of space not only enable robust navigation
                  behavior, but also permit natural communication with a human
                  passenger. We apply a hierarchical framework of spatial
                  knowledge inspired by human cognitive abilities, the Hybrid
                  Spatial Semantic Hierarchy, to common navigation tasks: safe
                  motion, localization, map-building, and route planning. We
                  also discuss the straightforward mapping between the variety
                  of ways in which people communicate with a chauffeur and the
                  framework's heterogeneous concepts of spatial knowledge. We
                  present pilot experiments with a virtual chauffeur.},
  bib2html_pubtype ={Workshop},
  bib2html_rescat ={Autonomous Vehicles},
  bib2html_extra_info ={<a
                  href="http://personal.traclabs.com/~pbeeson/talks/Beeson-sss-07_talk.pdf">
                  Talk slides</a>},
}

Download:

[437.2KB pdf]