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Sökning: swepub > Örebro universitet > Broxvall Mathias > Saffiotti Alessandro > Karlsson Lars > Coradeschi Silvia

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1.
  • Broxvall, Mathias, et al. (författare)
  • Have another look on failures and recovery planning in perceptual anchoring
  • 2004
  • Konferensbidrag (refereegranskat)abstract
    • An important requirement for autonomous systems is the ability to detect and recover from exceptional situations such as failures in observations. In this paper we demonstrate how techniques for planning with sensing under uncertainty can play a major role in solving the problem of recovering from such situations. In this first step we concentrate on failures in perceptual anchoring, that is how to connect a symbol representing an object to the percepts of that object. We provide a classification of failures and present planning-based methods for recovering from them. We illustrate our approach by showing tests run on a mobile robot equipped with a color camera.
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2.
  • Broxvall, Mathias, et al. (författare)
  • Recovery planning for ambiguous cases in perceptual anchoring
  • 2005
  • Ingår i: Proceedings of the 20th national conference on Artificial intelligence, AAAI-05 : volume 3. - 978-1-57735-236-5 ; s. 1254-1260
  • Konferensbidrag (refereegranskat)abstract
    • An autonomous robot using symbolic reasoning, sensing and acting in a real environment needs the ability to create and maintain the connection between symbols representing objects in the world and the corresponding perceptual representations given by its sensors. This connection has been named perceptual anchoring. In complex environments, anchoring is not always easy to establish: the situation may often be ambiguous as to which percept actually corresponds to a given symbol. In this paper, we extend perceptual anchoring to deal robustly with ambiguous situations by providing general methods for detecting them and recovering from them. We consider different kinds of ambiguous situations and present planning-based methods to recover from them. We illustrate our approach by showing experiments involving a mobile robot equipped with a color camera and an electronic nose.
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3.
  • Karlsson, Lars, et al. (författare)
  • To secure an anchor : a recovery planning approach to ambiguity in perceptual anchoring
  • 2008
  • Ingår i: AI Communications. - Amsterdam : IOS Press. - 0921-7126. ; 21:1, s. 1-14
  • Tidskriftsartikel (refereegranskat)abstract
    • An autonomous robot using symbolic reasoning, sensing and acting in a real environment needs the ability to create and maintain the connection between symbols representing objects in the world and the corresponding perceptual representations given by its sensors. This connection has been named perceptual anchoring. In complex environments, anchoring is not always easy to establish: the situation may often be ambiguous as to which percept actually corresponds to a given symbol.In this paper, we extend perceptual anchoring to deal robustly with ambiguous situations by providing general methods for detecting them and recovering from them. We consider different kinds of ambiguous situations. We also present methods to recover from these situations based onautomatically formulating them as conditional planning problems that then are solved by a planner.We illustrate our approach by showing experiments involving a mobile robot equipped with a color camera and an electronic nose.
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  • Resultat 1-3 av 3
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