NDLI: A planning architecture for topological robot navigation in uncertain domains

Content Provider	IEEE Xplore Digital Library
Author	Lopez, E. Bergasa, L.M. Barea, R. Escudero, M.
Copyright Year	2003
Description	Author affiliation: Dept. of Electron., Univ. of Alcala, Alcala De Henares, Spain (Lopez, E.; Bergasa, L.M.; Barea, R.; Escudero, M.)
Abstract	This paper presents a new navigation architecture for autonomous mobile robots working in uncertain domains. Partially Observable Markov Decision Processes (POMDPs) are suitable mathematical models for solving localization, planning and learning problems in uncertain navigation systems based on a topological representation of the environment. This paper focuses on the planning module, consisting of a two-level layered architecture (a local policy and a global policy) that simplifies the problem of finding optimal policies in POMDPs. The proposed system naturally integrates several planning objectives, such as guiding to a goal room, reducing location uncertainty, and exploring. Some experimental results are shown, carried out with an assistant robot developed in the Electronics Department of the University of Alcala.
Sponsorship	IEEE Ind. Electron. Soc. UNINOVA & Univ. Nova de Lisboa-FCT- DEE
Starting Page	597
Ending Page	604
File Size	588634
Page Count	8
File Format	PDF
ISBN	0780379373
DOI	10.1109/ETFA.2003.1247761
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-16
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Navigation Uncertainty Senior citizens Robustness Mathematical model Man machine systems Speech synthesis Indoor environments Hospitals
Content Type	Text
Resource Type	Article

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