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Erschienen in:
2013 | OriginalPaper | Buchkapitel
Linguistic Composition of Semantic Maps and Hybrid Controllers
verfasst von : Neil Dantam, Carlos Nieto-Granda, Henrik I. Christensen, Mike Stilman
Erschienen in: Experimental Robotics
Verlag: Springer International Publishing
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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.