Proceedings ArticleDOI
Topological mapping for robot navigation using affordance features
Karthik Mahesh Varadarajan
- pp 42-49
TLDR
A novel approach to topological map building that takes into account affordance features that can help build lightweight, high-resolution, holistic and cognitive maps by predicting positional and functional characteristics of unseen objects is presented.Citations
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Proceedings Article
Augmenting topology-based maps with geometric information
TL;DR: In this paper, the authors show how to enrich a topology-based map with geometric information useful for planning and navigation, which can be extracted from sensor data automatically extracted from the sensor data.
Journal ArticleDOI
A brief review of affordance in robotic manipulation research
Natsuki Yamanobe,Weiwei Wan,Ixchel G. Ramirez-Alpizar,Damien Petit,Tokuo Tsuji,Shuichi Akizuki,Manabu Hashimoto,Kazuyuki Nagata,Kensuke Harada +8 more
TL;DR: A brief review of affordance research in robotics, with special concentrations on its applications in grasping and manipulation of objects, and shows the current work, which is a cloud database for advanced manipulation intelligence.
Journal ArticleDOI
A Logic-Based Computational Framework for Inferring Cognitive Affordances
Vasanth Sarathy,Matthias Scheutz +1 more
TL;DR: This work develops a computational framework comprising a probabilistic rules-based logical representation coupled with a computational architecture to reason about affordances in a more general manner than described in the existing literature.
Proceedings ArticleDOI
Affordance-Based Mobile Robot Navigation Among Movable Obstacles
TL;DR: In this article, the authors propose a framework for autonomous robot navigation among movable obstacles based on the theory of affordances and contact-implicit motion planning, and demonstrate the performance of the proposed framework by hardware experiments with Toyota's Human Support Robot.
Proceedings Article
Cognitive affordance representations in uncertain logic
Vasanth Sarathy,Matthias Scheutz +1 more
TL;DR: This work develops a formal rules-based logical representational format coupled with an uncertainty-processing framework to reason about cognitive affordances in a more general manner than shown in the existing literature.
References
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Journal ArticleDOI
Learning metric-topological maps for indoor mobile robot navigation
TL;DR: This paper describes an approach that integrates both paradigms: grid-based and topological, which gains advantages from both worlds: accuracy/consistency and efficiency.
Journal ArticleDOI
A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations
Benjamin Kuipers,Yung-Tai Byun +1 more
TL;DR: Kuipers et al. as discussed by the authors developed a robust qualitative method for robot exploration, mapping, and navigation in large-scale spatial environments, which can build an accurate map of a previously unkown environment in spite of substantial random and systematic sensorimotor error.
Journal ArticleDOI
The Graph SLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures
TL;DR: GraphSLAM is a unifying algorithm for the offline SLAM problem that transforms the SLAM posterior into a graphical network, representing the log-likelihood of the data, and reduces this graph using variable elimination techniques, arriving at lower-dimensional problems that are then solved using conventional optimization techniques.
Journal ArticleDOI
Objects, parts, and categories.
TL;DR: For example, Boyes-Braem et al. as mentioned in this paper found that part terms proliferate in subjects' listings of attributes characterizing category members at the basic level, but are rarely listed at a general level.