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

^*Corresponding author for this work

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

14 Scopus citations

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 - 20th Annual Conference, TAROS 2019, Proceedings
Editors	Kaspar Althoefer, Jelizaveta Konstantinova, Ketao Zhang
Publisher	Springer Verlag
Pages	191-201
Number of pages	11
ISBN (Print)	9783030253318
DOIs	https://doi.org/10.1007/978-3-030-25332-5_17
State	Published - 2019
Externally published	Yes
Event	20th Towards Autonomous Robotic Systems Conference, TAROS 2019 - London, United Kingdom Duration: 3 Jul 2019 → 5 Jul 2019

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	11650 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	20th Towards Autonomous Robotic Systems Conference, TAROS 2019
Country/Territory	United Kingdom
City	London
Period	3/07/19 → 5/07/19

Bibliographical note

Publisher Copyright:
© Springer Nature Switzerland AG 2019.

Keywords

Navigation among movable obstacles
Robotics
Semantic map
Semantic path planning

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Access to Document

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

Cite this

Sun, N., Yang, E., Corney, J., & Chen, Y. (2019). Semantic path planning for indoor navigation and household tasks. In K. Althoefer, J. Konstantinova, & K. Zhang (Eds.), Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings (pp. 191-201). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11650 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-030-25332-5_17

Sun, Nico ; Yang, Erfu ; Corney, Jonathan et al. / Semantic path planning for indoor navigation and household tasks. Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. editor / Kaspar Althoefer ; Jelizaveta Konstantinova ; Ketao Zhang. Springer Verlag, 2019. pp. 191-201 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

@inproceedings{cf1b929c93d24151b2d024e19bfe2e19,

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",

note = "Publisher Copyright: {\textcopyright} Springer Nature Switzerland AG 2019.; 20th Towards Autonomous Robotic Systems Conference, TAROS 2019 ; Conference date: 03-07-2019 Through 05-07-2019",

year = "2019",

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

language = "English",

isbn = "9783030253318",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Verlag",

pages = "191--201",

editor = "Kaspar Althoefer and Jelizaveta Konstantinova and Ketao Zhang",

booktitle = "Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings",

address = "Germany",

}

Sun, N, Yang, E, Corney, J & Chen, Y 2019, Semantic path planning for indoor navigation and household tasks. in K Althoefer, J Konstantinova & K Zhang (eds), Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11650 LNAI, Springer Verlag, pp. 191-201, 20th Towards Autonomous Robotic Systems Conference, TAROS 2019, London, United Kingdom, 3/07/19. https://doi.org/10.1007/978-3-030-25332-5_17

Semantic path planning for indoor navigation and household tasks. / Sun, Nico; Yang, Erfu; Corney, Jonathan et al.
Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. ed. / Kaspar Althoefer; Jelizaveta Konstantinova; Ketao Zhang. Springer Verlag, 2019. p. 191-201 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11650 LNAI).

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

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 - Publisher Copyright: © Springer Nature Switzerland AG 2019.

PY - 2019

Y1 - 2019

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

UR - https://www.scopus.com/pages/publications/85073899936

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

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

M3 - Conference contribution

AN - SCOPUS:85073899936

SN - 9783030253318

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 191

EP - 201

BT - Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings

A2 - Althoefer, Kaspar

A2 - Konstantinova, Jelizaveta

A2 - Zhang, Ketao

PB - Springer Verlag

T2 - 20th Towards Autonomous Robotic Systems Conference, TAROS 2019

Y2 - 3 July 2019 through 5 July 2019

ER -

Sun N, Yang E, Corney J, Chen Y. Semantic path planning for indoor navigation and household tasks. In Althoefer K, Konstantinova J, Zhang K, editors, Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings. Springer Verlag. 2019. p. 191-201. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-030-25332-5_17

Semantic path planning for indoor navigation and household tasks

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

Fingerprint

Cite this