Volume 6 Number 6 (Dec. 2014)
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IJCEE 2014 Vol.6(6): 444-456 ISSN: 1793-8163
DOI: 10.17706/IJCEE.2014.V6.863

Robot Task Planning on Multiple Environments

Paulo Pinheiro, Jacques Wainer, Eleri Cardozo
Abstract—This paper presents a hierarchical planning approach to solving the global localization problem for mobile robots using a compaction map method. This approach uses architectural design features such as walls and doors to break the environment into rooms and cluster them by similarity constraints. Each group of similar rooms is mixed into a single, compact representative map. Lighter POMDP plans are generated only for these compact maps and not for the whole environment, decreasing size of the set of possible states. In the higher layer of the planner, the robots use the compact maps to define which group of rooms they are located in. In the lower layer, the specific room of a representative map is isolated and its probability distribution is used to find out the precise localization. We demonstrate the hierarchical approach and the new map compaction with experiments on both V-REP Simulator and a Pioneer 3DX robot. This approach allows the robot to perform both the localization and tasking in a large-scale environment while keeping the accuracy.

Index Terms—Mobile robot, localization, task planning, POMDP.

Paulo Pinheiro and Eleri Cardozo are with the School of Electrical and Computer Engineering, University of Campinas, SP, 13083-970, Brazil
Jacques Wainer is with Institute of Computing, University of Campinas, SP, 13083-852, Brazil

Cite:Paulo Pinheiro, Jacques Wainer, Eleri Cardozo, "Robot Task Planning on Multiple Environments," International Journal of Computer and Electrical Engineering vol. 6, no. 6, pp. 444-456, 2014.

General Information

ISSN: 1793-8163 (Print)
Abbreviated Title: Int. J. Comput. Electr. Eng.
Frequency: Quarterly
Editor-in-Chief: Prof. Yucong Duan
Abstracting/ Indexing: EI (INSPEC, IET), Ulrich's Periodicals Directory, Google Scholar, EBSCO, ProQuest, and Electronic Journals Library
E-mail: ijcee@iap.org

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