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Affordance-based Actionable Semantic Mapping and Planning for Mobile Rescue Robots

Bark, Frederik ; Daun, Kevin ; Stryk, Oskar von (2023)
Affordance-based Actionable Semantic Mapping and Planning for Mobile Rescue Robots.
2023 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR'23). Fukushima, Japan (13.11.-15.11.2023)
doi: 10.1109/SSRR59696.2023.10499938
Konferenzveröffentlichung, Bibliographie

Kurzbeschreibung (Abstract)

Autonomous and tele-operation of rescue robots in urban search and rescue (USAR) environments is very challenging as details of missions and environments are usually unknown, mission goals might change dynamically and there is only little repeatability between different missions. Therefore, we propose a novel actionable semantic mapping and planning approach which leverages complementary capabilities of operator and robotic assistance functions. While related methods often focus on accuracy for geometric or semantic representations, we propose a novel framework focusing on an actionable map representation which is well suited for planning complex behaviors in uncertain environments. We represent the environment topologically as a scene graph coupled with a geometrically and semantically dense representation as Truncated Signed Distance Functions. We propose to apply the concept of affordances to map possible actions and costs to object classes. Building on that, we propose a combined topological and geometric task planning method allowing for easy operator interaction on task selection and prioritization. The successful application in two complex scenarios demonstrates the flexibility and efficiency of the proposed approach and the benefit of operator interaction.

Typ des Eintrags: Konferenzveröffentlichung
Erschienen: 2023
Autor(en): Bark, Frederik ; Daun, Kevin ; Stryk, Oskar von
Art des Eintrags: Bibliographie
Titel: Affordance-based Actionable Semantic Mapping and Planning for Mobile Rescue Robots
Sprache: Englisch
Publikationsjahr: 16 November 2023
Verlag: IEEE
Buchtitel: Proceedings of the 2023 IEEE International Symposium on Safety, Security, and Rescue Robotics
Veranstaltungstitel: 2023 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR'23)
Veranstaltungsort: Fukushima, Japan
Veranstaltungsdatum: 13.11.-15.11.2023
DOI: 10.1109/SSRR59696.2023.10499938
URL / URN: https://ieeexplore.ieee.org/abstract/document/10499938
Kurzbeschreibung (Abstract):

Autonomous and tele-operation of rescue robots in urban search and rescue (USAR) environments is very challenging as details of missions and environments are usually unknown, mission goals might change dynamically and there is only little repeatability between different missions. Therefore, we propose a novel actionable semantic mapping and planning approach which leverages complementary capabilities of operator and robotic assistance functions. While related methods often focus on accuracy for geometric or semantic representations, we propose a novel framework focusing on an actionable map representation which is well suited for planning complex behaviors in uncertain environments. We represent the environment topologically as a scene graph coupled with a geometrically and semantically dense representation as Truncated Signed Distance Functions. We propose to apply the concept of affordances to map possible actions and costs to object classes. Building on that, we propose a combined topological and geometric task planning method allowing for easy operator interaction on task selection and prioritization. The successful application in two complex scenarios demonstrates the flexibility and efficiency of the proposed approach and the benefit of operator interaction.

Freie Schlagworte: emergenCITY
Fachbereich(e)/-gebiet(e): 20 Fachbereich Informatik
20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik
LOEWE
LOEWE > LOEWE-Zentren
LOEWE > LOEWE-Zentren > emergenCITY
Hinterlegungsdatum: 08 Mai 2024 05:46
Letzte Änderung: 08 Mai 2024 05:54
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