Semantic Representation for Communication Between Human and Wireless Robot
- Title
- Semantic Representation for Communication Between Human and Wireless Robot
- Author
- 서일홍
- Keywords
- Semantic mapping; Communication (HRI); Wireless robot
- Issue Date
- 2019-03
- Publisher
- SPRINGER
- Citation
- WIRELESS PERSONAL COMMUNICATIONS, v. 105, NO 2, Page. 509-524
- Abstract
- We have developed a human-navigation-inspired and semantic map-building for communication between human and wireless robots. Four human navigation strategies (dead reckoning, egocentric place recognition, and reorientation) are integrated in our proposed method as an egocentric-semantic topology representation, egocentric measurement representation, and reorientation rules, respectively. In experiments, we successfully created a semantic representation and estimated the location of the robot by changing inaccurate distance and angle to approximate measurements using our proposed computing method. Semantic representation building took place in a 14x26.5m corridor. The proposed method enables a robot to navigate effectively in a service environment using navigation schemes inspired by humans and their actions.
- URI
- https://link.springer.com/article/10.1007%2Fs11277-018-5949-1https://repository.hanyang.ac.kr/handle/20.500.11754/110112
- ISSN
- 0929-6212; 1572-834X
- DOI
- 10.1007/s11277-018-5949-1
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRONIC ENGINEERING(융합전자공학부) > Articles
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