Maintaining Coherent Perceptual Information Using Anchoring
A. Loutfi, S. Coradeschi and A. Saffiotti
The purpose of this paper is to address the problem of maintaining
coherent perceptual information in a mobile robotic system working over
extended periods of time, interacting with a user and using multiple
sensing modalities to gather information about the environment and
specific objects. We present a system which is able to use spatial and
olfactory sensors to patrol a corridor and execute user requested tasks.
To cope with perceptual maintenance we present an extension of the
anchoring framework capable of maintaining the correspondence between
sensor data and the symbolic descriptions referring to objects. It is
also capable of tracking and acquiring information from observations
derived from sensor-data as well as information from a priori symbolic
concepts. The general system is described and an experimental
validation on a mobile robot is presented.