Title:
Linguistic Composition of Semantic Maps and Hybrid Controllers. Experimental Robotics
Linguistic Composition of Semantic Maps and Hybrid Controllers. Experimental Robotics
Author(s)
Dantam, Neil
Nieto-Granda, Carlos
Christensen, Henrik I.
Stilman, Mike
Nieto-Granda, Carlos
Christensen, Henrik I.
Stilman, Mike
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Abstract
This work combines semantic maps with hybrid control models, generating a direct link between action and environment models to produce a control policy for mobile manipulation in unstructured environments. First, we generate a semantic map for our environment and design a base model of robot action. Then, we combine this map and action model using the Motion Grammar Calculus to produce a combined robot-environment model. Using this combined model, we apply supervisory control to produce a policy for the manipulation task. We demonstrate this approach on a Segway RMP-200 mobile platform.
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Date Issued
2012-06
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Text
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Proceedings
Post-print
Post-print