NDLI: A Navigation System for Assistant Robots Using Visually Augmented POMDPs

Content Provider	Springer Nature Link
Author	López, María Elena Bergasa, Luis Miguel Barea, Rafael Escudero, María Soledad
Copyright Year	2005
Abstract	Assistant robots have received special attention from the research community in the last years. One of the main applications of these robots is to perform care tasks in indoor environments such as houses, nursing homes or hospitals, and therefore they need to be able to navigate robustly for long periods of time. This paper focuses on the navigation system of SIRA, a robotic assistant for elderly and/or blind people based on a Partially Observable Markov Decision Process (POMDP) to global localize the robot and to direct its goal-oriented actions. The main novel feature of our approach is that it combines sonar and visual information in a natural way to produce state transitions and observations in the framework of Markov Decision Processes. Besides this multisensorial fusion, a two-level layered planning architecture that combines several planning objectives (such as guiding to a goal room and reducing locational uncertainty) improves the robustness of the navigation system, as it’s shown in our experiments with SIRA navigating corridors.
Starting Page	67
Ending Page	87
Page Count	21
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	19
Issue Number	1
e-ISSN	15737527
Language	English
Publisher	Kluwer Academic Publishers
Publisher Date	2005-01-01
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	probabilistic navigation Partially Observable Markov Decision Processes multisensorial fusion planning under uncertainty assistant robots Artificial Intelligence (incl. Robotics) Simulation and Modeling Computer Imaging, Graphics and Computer Vision Mechanical Engineering Automation and Robotics Electronic and Computer Engineering
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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