DFKI-LT - The Explorer System, Chapter: 10

Kristoffer Sjöö, Hendrik Zender, Patric Jensfelt, Geert-Jan Kruijff, Andrzej Pronobis, Nick Hawes, Michael Brenner
The Explorer System
in: Henrik Iskov Christensen, Geert-Jan Kruijff, Jeremy L. Wyatt (eds.):
3 Cognitive Systems volume 8,
Cognitive Systems Monographs, Pages 395-421, Springer Verlag, Berlin/Heidelberg, Germany, 2010

In the Explorer scenario we deal with the problems of modeling space, acting in this space and reasoning about it. Comparing with the motivating example in Section 1.3 the Explorer scenario focuses around issues related to the second bullet in the example. The setting is that of Fido moving around in an initially unknown (Fido was just unpacked from the box), large scale (it is a whole house so the sensors do not perceive all there is from one spot), environment inhabited by humans (the owners of Fido and possible visitors). These humans can be both users and bystanders. The version of Fido that we work with in the Explorer scenario can move around but interaction with the environment is limited to non-physical interaction such as "talking". The main sensors of the system are a laser scanner and a camera mounted on a pan-tilt enabling Fido to look around by turning its "neck". Figure 10.1 shows a typical situation from the Explorer scenario.
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