IntelliMove: Enhancing Robotic Planning with Semantic Mapping
Fuente:
arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
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| _version_ | 1866929550423752704 |
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| author | Ngom, Fama Zhang, Huaxi Zhang, Lei Godary-Dejean, Karen Huchard, Marianne |
| author_facet | Ngom, Fama Zhang, Huaxi Zhang, Lei Godary-Dejean, Karen Huchard, Marianne |
| contents | Semantic navigation enables robots to understand their environments beyond basic geometry, allowing them to reason about objects, their functions, and their interrelationships. In semantic robotic navigation, creating accurate and semantically enriched maps is fundamental. Planning based on semantic maps not only enhances the robot's planning efficiency and computational speed but also makes the planning more meaningful, supporting a broader range of semantic tasks. In this paper, we introduce two core modules of IntelliMove: IntelliMap, a generic hierarchical semantic topometric map framework developed through an analysis of current technologies strengths and weaknesses, and Semantic Planning, which utilizes the semantic maps from IntelliMap. We showcase use cases that highlight IntelliMove's adaptability and effectiveness. Through experiments in simulated environments, we further demonstrate IntelliMove's capability in semantic navigation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_14851 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | IntelliMove: Enhancing Robotic Planning with Semantic Mapping Ngom, Fama Zhang, Huaxi Zhang, Lei Godary-Dejean, Karen Huchard, Marianne Robotics Semantic navigation enables robots to understand their environments beyond basic geometry, allowing them to reason about objects, their functions, and their interrelationships. In semantic robotic navigation, creating accurate and semantically enriched maps is fundamental. Planning based on semantic maps not only enhances the robot's planning efficiency and computational speed but also makes the planning more meaningful, supporting a broader range of semantic tasks. In this paper, we introduce two core modules of IntelliMove: IntelliMap, a generic hierarchical semantic topometric map framework developed through an analysis of current technologies strengths and weaknesses, and Semantic Planning, which utilizes the semantic maps from IntelliMap. We showcase use cases that highlight IntelliMove's adaptability and effectiveness. Through experiments in simulated environments, we further demonstrate IntelliMove's capability in semantic navigation. |
| title | IntelliMove: Enhancing Robotic Planning with Semantic Mapping |
| topic | Robotics |
| url | https://arxiv.org/abs/2410.14851 |