Conceptual spatial representations for indoor mobile robots

We present an approach for creating conceptual representations of human-made indoor environments using mobile robots. The concepts refer to spatial and functional properties of typical indoor environments. Following findings in cognitive psychology, our model is composed of layers representing maps at different levels of abstraction. The complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition. The system also incorporates a linguistic framework that actively supports the map acquisition process, and which is used for situated dialogue. Finally, we discuss the capabilities of the integrated system

Knowledge Representation for Robots through Human-Robot Interaction

The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction with the user. We propose a multi-modal interaction framework that allows to effectively acquire knowledge about the environment where the robot operates. In particular, in this paper we present a rich representation framework that can be automatically built from the metric map annotated with the indications provided by the user. Such a representation, allows then the robot to ground complex referential expressions for motion commands and to devise topological navigation plans to achieve the target locations.Comment: Knowledge Representation and Reasoning in Robotics Workshop at ICLP 201

Footprints of information foragers: Behaviour semantics of visual exploration

Social navigation exploits the knowledge and experience of peer users of information resources. A wide variety of visual–spatial approaches become increasingly popular as a means to optimize information access as well as to foster and sustain a virtual community among geographically distributed users. An information landscape is among the most appealing design options of representing and communicating the essence of distributed information resources to users. A fundamental and challenging issue is how an information landscape can be designed such that it will not only preserve the essence of the underlying information structure, but also accommodate the diversity of individual users. The majority of research in social navigation has been focusing on how to extract useful information from what is in common between users' profiles, their interests and preferences. In this article, we explore the role of modelling sequential behaviour patterns of users in augmenting social navigation in thematic landscapes. In particular, we compare and analyse the trails of individual users in thematic spaces along with their cognitive ability measures. We are interested in whether such trails can provide useful guidance for social navigation if they are embedded in a visual–spatial environment. Furthermore, we are interested in whether such information can help users to learn from each other, for example, from the ones who have been successful in retrieving documents. In this article, we first describe how users' trails in sessions of an experimental study of visual information retrieval can be characterized by Hidden Markov Models. Trails of users with the most successful retrieval performance are used to estimate parameters of such models. Optimal virtual trails generated from the models are visualized and animated as if they were actual trails of individual users in order to highlight behavioural patterns that may foster social navigation. The findings of the research will provide direct input to the design of social navigation systems as well as to enrich theories of social navigation in a wider context. These findings will lead to the further development and consolidation of a tightly coupled paradigm of spatial, semantic and social navigation

Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

NaviCell: a web-based environment for navigation, curation and maintenance of large molecular interaction maps

Molecular biology knowledge can be systematically represented in a computer-readable form as a comprehensive map of molecular interactions. There exist a number of maps of molecular interactions containing detailed description of various cell mechanisms. It is difficult to explore these large maps, to comment their content and to maintain them. Though there exist several tools addressing these problems individually, the scientific community still lacks an environment that combines these three capabilities together. NaviCell is a web-based environment for exploiting large maps of molecular interactions, created in CellDesigner, allowing their easy exploration, curation and maintenance. NaviCell combines three features: (1) efficient map browsing based on Google Maps engine; (2) semantic zooming for viewing different levels of details or of abstraction of the map and (3) integrated web-based blog for collecting the community feedback. NaviCell can be easily used by experts in the field of molecular biology for studying molecular entities of their interest in the context of signaling pathways and cross-talks between pathways within a global signaling network. NaviCell allows both exploration of detailed molecular mechanisms represented on the map and a more abstract view of the map up to a top-level modular representation. NaviCell facilitates curation, maintenance and updating the comprehensive maps of molecular interactions in an interactive fashion due to an imbedded blogging system. NaviCell provides an easy way to explore large-scale maps of molecular interactions, thanks to the Google Maps and WordPress interfaces, already familiar to many users. Semantic zooming used for navigating geographical maps is adopted for molecular maps in NaviCell, making any level of visualization meaningful to the user. In addition, NaviCell provides a framework for community-based map curation.Comment: 20 pages, 5 figures, submitte

Robot Navigation in Unseen Spaces using an Abstract Map

Human navigation in built environments depends on symbolic spatial information which has unrealised potential to enhance robot navigation capabilities. Information sources such as labels, signs, maps, planners, spoken directions, and navigational gestures communicate a wealth of spatial information to the navigators of built environments; a wealth of information that robots typically ignore. We present a robot navigation system that uses the same symbolic spatial information employed by humans to purposefully navigate in unseen built environments with a level of performance comparable to humans. The navigation system uses a novel data structure called the abstract map to imagine malleable spatial models for unseen spaces from spatial symbols. Sensorimotor perceptions from a robot are then employed to provide purposeful navigation to symbolic goal locations in the unseen environment. We show how a dynamic system can be used to create malleable spatial models for the abstract map, and provide an open source implementation to encourage future work in the area of symbolic navigation. Symbolic navigation performance of humans and a robot is evaluated in a real-world built environment. The paper concludes with a qualitative analysis of human navigation strategies, providing further insights into how the symbolic navigation capabilities of robots in unseen built environments can be improved in the future.Comment: 15 pages, published in IEEE Transactions on Cognitive and Developmental Systems (http://doi.org/10.1109/TCDS.2020.2993855), see https://btalb.github.io/abstract_map/ for access to softwar