Kyriacou, Theocharis ORCID: https://orcid.org/0000-0002-5211-3686, Bugmann, Guido and Lauria, Stanislao (2002) Vision-based urban navigation procedures for verbally instructed robots. In: IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, pp. 1326-1331

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Abstract

Humans who explain a task to a robot, or to another human, use chunks of actions that are often complex procedures for robots. An instructible robot needs to be able to map such chunks to existing preprogrammed primitives. We investigate the nature of these chunks in an urban visual navigation context and describe the implementation of one of the primitives: "take the n/sup th/ turn right/left". This implementation requires the use of a "short-lived" internal map updated as the robot moves along. The recognition and localisation of intersections is done using task-guided template matching. This approach takes advantage of the content of human instructions to save computation time and improve robustness.

Item Type:	Book Section
Status:	Published
DOI:	10.1109/IRDS.2002.1043938
Subjects:	Q Science > Q Science (General)
School/Department:	York Business School
URI:	https://ray.yorksj.ac.uk/id/eprint/13152

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