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Recovery Planning for Ambiguous Cases in Perceptual Anchoring

M. Broxvall, S. Coradeschi, L. Karlsson and A. Saffiotti

Abstract
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.
Citation
M. Broxvall, S. Coradeschi, L. Karlsson and A. Saffiotti. Recovery Planning for Ambiguous Cases in Perceptual Anchoring. Proc. of the 20th AAAI Conf, pp. 1254-1260. Pittsburgh, PA, 2005.
BibTeX entry
Contact
Email Mathias Broxvall
Email Silvia Coradeschi
Email Lars Karlsson
Email Alessandro Saffiotti
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