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The success of mobile robots, and particularly of those interfacing with humans in daily environments (e.g., assistant robots), relies on the ability to manipulate information beyond simple spatial relations. We are interested in semantic information, which gives meaning to spatial information like images or geometric maps. We present a multi-hierarchical(More)
Task planning for mobile robots usually relies solely on spatial information and on shallow domain knowledge, like labels attached to objects and places. Although spatial information is necessary for performing basic robot operations (navigation and localization), the use of deeper domain knowledge is pivotal to endow a robot with higher degrees of autonomy(More)
This article addresses the problem of mobile robot localization using Ultra-Wide-Band (UWB) range measurements. UWB is a radio technology widely used for communications that recently is receiving increasing attention also for positioning applications. In these cases, the position of a mobile transceiver is determined from the distances to a set of fixed,(More)
Ultra-wide band (UWB) sensors are innovative devices constructed for efficient wireless communications that have recently being used for vehicle localization in indoor environments. In contrast, GPS sensors are well-known satellite-based positioning devices widely extended for outdoor applications. We evaluate in this paper the combination of both(More)
This paper presents an application of a multihierarchical, symbolic model of large-scale space for representing the environment of a robotic wheelchair that has been automated for assistance to mobility impaired people. Rehabilitation robotics has an issue that is not present in mobile robotics: the need for an interface with the human driver. Our(More)
Completely autonomous performance of a mobile robot within noncontrolled and dynamic environments is not possible yet due to different reasons including environment uncertainty, sensor/software robustness, limited robotic abilities, etc. But in assistant applications in which a human is always present, she/he can make up for the lack of robot autonomy by(More)
Task planning in mobile robotics should be performed efficiently, due to real-time requirements of robot-environment interaction. Its computational efficiency depends both on the number of operators (actions the robot can perform without planning) and the size of the world states (descriptions of the world before and after the application of operators).(More)
— In this paper we consider the problem of creating a two dimensional spatial representation of gas distribution with a mobile robot. In contrast to previous approaches to the problem of gas distribution mapping (GDM) we do not assume that the robot has perfect knowledge about its position. Instead we develop a probabilistic framework for simultaneous(More)