Abstract
Robotic systems operating in the real world would benefit from a clear semantic model to understand their interactions with the real world. Such semantics are typically captured in an ontology. Unfortunately, existing world models in robotics focus on its navigation task. They adopt a hierarchical structure decomposing the environment from large spaces into small objects having a position, thereby limiting the robot's interactions as a 'go-to-object' task. To allow a richer understanding of the real world this hierarchical structure should be replaced with an ontology, yet one that does not limit the real-time requirements of the robot when it is queried or updated with new observations extracted from sensors. Such an ontology is presented in this article. For now the ontology also focusses on the navigation aspect of robots, yet it is open to model other aspects of the real world as well. Experiments show that multiple environments are successfully modelled supporting the robot to go from one room to another to search for humans.
Original language | English |
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Title of host publication | Proceedings of the 26th International Conference on Methods and Models in Automation and Robotics, MMAR 2022 |
Publisher | IEEE |
Pages | 430-435 |
ISBN (Electronic) | 978-1-6654-6857-2, 978-1-6654-6858-9 |
DOIs | |
Publication status | Published - 2022 |
Event | 26th International Conference on Methods and Models in Automation and Robotics, MMAR 2022 - Virtual, Miedzyzdroje, Poland Duration: 22 Aug 2022 → 25 Aug 2022 |
Conference
Conference | 26th International Conference on Methods and Models in Automation and Robotics, MMAR 2022 |
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Country/Territory | Poland |
City | Virtual, Miedzyzdroje |
Period | 22/08/22 → 25/08/22 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-careOtherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.