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NIFTi is about human-robot cooperation. About teams of robots and humans doing tasks together, interacting together to try and reach a shared goal. NIFTi looks at how the robot could bear the human in mind. Literally. When determining what to do or say next in human-robot interaction; when, and how. NIFTi puts the human factor into cognitive robots, and human-robot team interaction in particular.   Each year, NIFTi evaluates its systems together with several USAR organizations. Rescue personnel teams up with NIFTi robots to carry out realistic missions, in real-life training areas. 

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DR 1.3.3: Acquisition of human-compatible hybrid maps of semi-structured environments

Search and Rescue tasks are tackled in NIFTi with a team of robots and human operators. They take place in specific environments outside of research laboratories and require good communication between robot and users. This relies on a common understanding of space. According to the reviewers comments, the focus of this year was to be on operators and their needs. This report presents the result of year 3 development in work package 1 on spatio-temporal modeling for situation awareness and, more specifically, the work, following DR1.2.2 to achieve consistent hybrid representations of USAR sites (MS1.4). We developed a full 3D localization and mapping system for NIFTi UGVs which has been designed and validated according to operator needs. We also improved on our topological segmentation tools in order to accommodate user inputs. Finally, functional mapping now is based on a bi-directional connection between 3D mapping and functional projections from conceptual knowledge. The latter includes reasoning about (flexible) robot morphology in establishing in-situ affordances.

m36-DR1.3.3-PUBLIC.pdf — PDF document, 108689Kb

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