Robot Task Planning using Semantic maps

Abstract

In this final year project, we are going to work on robot’s task planning. In task planning, robots plan a sequence of high-level actions to perform a given task autonomously. To perform a basic robot (e.g. such as a service robot) operation autonomously, spatial information and general knowledge (domain knowledge and meaning of the objects) about the objects is needed. Spatial information includes position and geometry of objects, a structure of space, connectivity among places and areas, and the appearance of the objects. In our work, for knowledge of the objects, we focus on the use of semantic knowledge which is integrated with the spatial information by semantic maps. Use of semantic knowledge can improve efficiency to perform certain tasks, we are using specific environment for our robot, in which the task planning will be done by the robot.