Authors
Theocharis Kyriacou, Guido Bugmann, Stanislao Lauria
Publication date
2005/4/30
Journal
Robotics and Autonomous Systems
Volume
51
Issue
1
Pages
69-80
Publisher
North-Holland
Description
When humans explain a task to be executed by a robot they decompose it into chunks of actions. These form a chain of search-and-act sensory-motor loops that exit when a condition is met. In this paper we investigate the nature of these chunks in an urban visual navigation context, and propose a method for implementing the corresponding robot primitives such as “take the nth turn right/left”. These primitives make use of a “short-lived” internal map updated as the robot moves along. The recognition and localisation of intersections is done in the map using task-guided template matching. This approach takes advantage of the content of human instructions to save computation time and improve robustness.
Total citations
Scholar articles
T Kyriacou, G Bugmann, S Lauria - Robotics and Autonomous Systems, 2005