Combining probabilistic map and dialog for robust life-long office navigation

H. Asoh*, Y. Motomura, I. Hara, S. Akaho, S. Hayamizu, T. Matsui

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

17 Citations (Scopus)

Abstract

A design of mobile robot for robust life-long navigation in office environment is proposed and evaluated. The key idea is combining probabilistic map and dialog with humans for reducing the location uncertainty. Bayesian inference with the map represented by probabilistic automata is used in order to reduce the number of queries and to evaluate the success rate of planned paths. We experimentally implemented the design using a simple Bayesian Network with continuous nodes and demonstrated its effectiveness in a real environment.

Original languageEnglish
Pages807-812
Number of pages6
Publication statusPublished - 1996
Externally publishedYes
EventProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn
Duration: 1996 Nov 41996 Nov 8

Other

OtherProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3)
CityOsaka, Jpn
Period96/11/496/11/8

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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