Schulz, Ruth, Talbot, Ben, Upcroft, Ben, & Wyeth, Gordon (2015) Constructing Abstract Maps from Spatial Descriptions for Goal-directed Exploration. Presented at Robotics: Science and Systems 2015 Workshop on Model Learning for Human-Robot Communication, 16 July 2015, Rome, Italy.
This paper describes ongoing work on a system using spatial descriptions to construct abstract maps that can be used for goal-directed exploration in an unfamiliar office environment. Abstract maps contain membership, connectivity, and spatial layout information extracted from symbolic spatial information. In goal-directed exploration, the robot would then link this information with observed symbolic information and its grounded world representation. We demonstrate the ability of the system to extract and represent membership, connectivity, and spatial layout information from spatial descriptions of an office environment. In the planned study, the robot will navigate to the goal location using the abstract map to inform the best direction to explore in.