Path Planning Incorporating Semantic Information for Autonomous Robot Navigation

Silya Achat; Julien Marzat; Julien Moras

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Paper

Path Planning Incorporating Semantic Information for Autonomous Robot Navigation

Topics: Guidance, Navigation and Control; Mobile Robots and Autonomous Systems; Perception and Awareness

In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics ICINCO - Volume 1, 285-295, 2022 , Lisbon, Portugal

Authors: Silya Achat ; Julien Marzat and Julien Moras

Affiliation: DTIS, ONERA, Université Paris Saclay, F-91123 Palaiseau, France

Keyword(s): Autonomous Robot Navigation, Path Planning, Semantic Scene Understanding.

Abstract: This paper presents an approach to take into account semantic information for autonomous robot tasks requiring path planning capabilities. A semantic pointcloud or map serves as input for generating a multi-layered map structure, which can then be exploited to address various navigation goals and constraints. Semantic-aware adaptations of A* , Transition-based RRT and a shortcut algorithm are derived in this framework, and evaluated numerically on an exploration and observation task using a reference dataset with multiple semantic classes as an illustrative test environment.

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Paper citation in several formats:

Achat, S.; Marzat, J. and Moras, J. (2022). Path Planning Incorporating Semantic Information for Autonomous Robot Navigation. In Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-585-2; ISSN 2184-2809, SciTePress, pages 285-295. DOI: 10.5220/0011134300003271

@conference{icinco22,
author={Silya Achat. and Julien Marzat. and Julien Moras.},
title={Path Planning Incorporating Semantic Information for Autonomous Robot Navigation},
booktitle={Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2022},
pages={285-295},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0011134300003271},
isbn={978-989-758-585-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Path Planning Incorporating Semantic Information for Autonomous Robot Navigation
SN - 978-989-758-585-2
IS - 2184-2809
AU - Achat, S.
AU - Marzat, J.
AU - Moras, J.
PY - 2022
SP - 285
EP - 295
DO - 10.5220/0011134300003271
PB - SciTePress