Recovery Planning for Ambiguous Cases in Perceptual Anchoring
M. Broxvall, S. Coradeschi, L. Karlsson and A. Saffiotti
An autonomous robot using symbolic reasoning, sensing and acting in a
real environment needs the ability to create and maintain the connection
between symbols representing objects in the world and the corresponding
perceptual representations given by its sensors. This connection has
been named perceptual anchoring. In complex environments,
anchoring is not always easy to establish: the situation may often be
ambiguous as to which percept actually corresponds to a given symbol.
In this paper, we extend perceptual anchoring to deal robustly with
ambiguous situations by providing general methods for detecting them and
recovering from them. We consider different kinds of ambiguous
situations and present planning-based methods to recover from them. We
illustrate our approach by showing experiments involving a mobile robot
equipped with a color camera and an electronic nose.