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Dynamic Reasoning, Navigation and Sensing for Mobile Robots (IRIS-II, ISDE-5)

P. Caines, R. De Mori, G. Dudek, P. Freedman (CRIM), G. Hinton (U. Toronto), M.D. Levine The goal of this project is the development of a theoretical basis and practical instantiation of a mobile robotic system which will be able to reason about tasks, recognize objects in its environment, map its environment, and navigate through the environment and perform the specified search tasks. This will be achieved in a dynamic environment, in that knowledge of a (possibly changing) world may be updated, and the tasks themselves may be radically altered during the system's operation. We have identified this problem as one that ideally combines practical relevance and utility with scientific challenge. Amoung the key issues addressed are

  1. Integrated low (eg, points and lines) and high level (eg. places and rooms) descriptions of the environment.
  2. Ability to deal with a changing environment.
  3. Ability to reason about multiple tasks and the changing environment.
  4. Ability to learn about both the environment and the sensor characteristics.
  5. A high level user interface that allows efficient operation and includes verbal commands similar to those employed by humans (based on psychological data) and translates them into control actions for the robot and sensors.

Thierry Baron
Mon Apr 7 12:54:24 EDT 1997