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Authors: Benjamin Kisliuk 1 ; Christoph Tieben 1 ; Nils Niemann 1 ; Christopher Bröcker 1 ; Kai Lingemann 1 and Joachim Hertzberg 1 ; 2

Affiliations: 1 German Research Center for Artificial Intelligence, Plan-based Robot Control Group, Osnabrück, Germany ; 2 Universität Osnabrück, Knowledge Based Systems Group, Osnabrück, Germany

Keyword(s): Semantic Map, Navigation, Robot Autonomy, Semantic Navigation.

Abstract: Agriculture is becoming one of the key application fields for mobile robots. At the same time it poses serious challenges for true autonomous systems due to its heterogeneous and dynamic nature. To act robustly and reliably, robotic behaviour needs to be controlled by an intelligence, making explainable and informed decisions based on knowledge of its surroundings. However, this knowledge cannot only be derived from sensor data but has to be based on prior knowledge and external sources as well to comprehensively represent a robots deployment site. By representing this knowledge in formal and thus machine readable way, automated inference improves the handling of the complex nature of these requirements. In this paper, we show how quantitative and qualitative control parameters regarding a mobile robots navigation can be derived from a manually modelled semantic map of an agricultural deployment site. Also we describe how such a system can be integrated into a typical ROS system arch itecture. By making the derived knowledge easily available, the robotic system is enabled to dynamically adapt route planning on an agricultural deployment site and to switch between different local planning algorithms according to situational and prior knowledge. (More)

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Paper citation in several formats:
Kisliuk, B.; Tieben, C.; Niemann, N.; Bröcker, C.; Lingemann, K. and Hertzberg, J. (2022). Online Inference of Robot Navigation Parameters from a Semantic Map. In Proceedings of the 14th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART; ISBN 978-989-758-547-0; ISSN 2184-433X, SciTePress, pages 156-163. DOI: 10.5220/0010790200003116

@conference{icaart22,
author={Benjamin Kisliuk. and Christoph Tieben. and Nils Niemann. and Christopher Bröcker. and Kai Lingemann. and Joachim Hertzberg.},
title={Online Inference of Robot Navigation Parameters from a Semantic Map},
booktitle={Proceedings of the 14th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART},
year={2022},
pages={156-163},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010790200003116},
isbn={978-989-758-547-0},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 14th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART
TI - Online Inference of Robot Navigation Parameters from a Semantic Map
SN - 978-989-758-547-0
IS - 2184-433X
AU - Kisliuk, B.
AU - Tieben, C.
AU - Niemann, N.
AU - Bröcker, C.
AU - Lingemann, K.
AU - Hertzberg, J.
PY - 2022
SP - 156
EP - 163
DO - 10.5220/0010790200003116
PB - SciTePress