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Learning spatial concepts from RatSLAM representations

By Michael Milford, Ruth Schulz, David Prasser, Gordon Wyeth and Janet Wiles

Abstract

RatSLAM is a biologically-inspired visual SLAM and navigation system that has been shown to be effective indoors and outdoors on real robots. The spatial representation at the core of RatSLAM, the experience map, forms in a distributed fashion as the robot learns the environment. The activity in RatSLAM’s experience map possesses some geometric properties, but still does not represent the world in a human readable form. A new system, dubbed RatChat, has been introduced to enable meaningful communication with the robot. The intention is to use the “language games” paradigm to build spatial concepts that can be used as the basis for communication. This paper describes the first step in the language game experiments, showing the potential for meaningful categorization of the spatial representations in RatSLAM

Topics: 080101 Adaptive Agents and Intelligent Robotics, Spatial coceptyalization, RatSLAM, SLAM, Experience mapping
Publisher: Elsevier
Year: 2006
DOI identifier: 10.1016/j.robot.2006.12.006
OAI identifier: oai:eprints.qut.edu.au:32814
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