Hierarchical path planning from speech instructions with spatial concept-based topometric semantic mapping.

ABSTRACT: Assisting individuals in their daily activities through autonomous mobile robots is a significant concern, especially for users without specialized knowledge. Specifically, the capability of a robot to navigate to destinations based on human speech instructions is crucial. Although robots can take different paths toward the same objective, the shortest path is not always the most suitable. A preferred approach would be to accommodate waypoint specifications flexibly for planning an improved alternative path even with detours. Furthermore, robots require real-time inference capabilities. In this sense, spatial representations include semantic, topological, and metric-level representations, each capturing different aspects of the environment. This study aimed to realize a hierarchical spatia

SUBMITTER: Taniguchi A 

PROVIDER: S-EPMC11324419 | biostudies-literature | 2024

REPOSITORIES: biostudies-literature