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Have Another Look
On failures and recovery planning in perceptual anchoring

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

Abstract
An important requirement for autonomous systems is the ability to detect and recover from exceptional situations such as failures in observations. In this paper we demonstrate how techniques for planning with sensing under uncertainty can play a major role in solving the problem of recovering from such situations. In this first step we concentrate on failures in perceptual anchoring, that is how to connect a symbol representing an object to the percepts of that object. We provide a classification of failures and present planning-based methods for recovering from them. We illustrate our approach by showing tests run on a mobile robot equipped with a color camera.
Citation
M. Broxvall, S. Coradeschi, L. Karlsson and A. Saffiotti. Have Another Look: On failures and recovery planning in perceptual anchoring. Proc. of the ECAI-04 Workshop on Cognitive Robotics. Valencia, ES, 2004.
BibTeX entry
Contact
Email Mathias Broxvall
Email Silvia Coradeschi
Email Lars Karlsson
Email Alessandro Saffiotti
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