An Integrated Robotic System for Spatial Understanding and Situated Interaction in Indoor Environments

Hendrik Zender, Patric Jensfelt, Oscar Martinez Mozos, Geert-Jan M. Kruijff, Wolfram Burgard

A major challenge in robotics and artificial intelligence lies in creating robots that are to cooperate with people in human-populated environments, e.g. for domestic assistance or elderly care. Such robots need skills that allow them to interact with the world and the humans living and working therein. In this paper we investigate the question of spatial understanding of human-made environments. The functionalities of our system comprise perception of the world, natural language, learning, and reasoning. For this purpose we integrate state-of-the-art components from different disciplines in AI, robotics and cognitive systems into a mobile robot system. The work focuses on the description of the principles we used for the integration, including cross-modal integration, ontology-based mediation, and multiple levels of abstraction of perception. Finally, we present experiments with the integrated CoSy Explorer ( system and list some of the major lessons that were learned from its design, implementation, and evaluation.

Subjects: 17. Robotics; 1.6 Engineering And Science

Submitted: Apr 24, 2007

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