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Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks

Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks. Christian Mandel, A1-[RoboMap]. Overview . Goal scenario of project A1-[RoboMap]. Different subproblems require the integration of quantitative and qualitative information.

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Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks

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  1. Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] Overview • Goal scenario of project A1-[RoboMap] • Different subproblems require the integration of quantitative and qualitative information • Safety requirements(I4-[SPIN]) and shared control(I3-[SharC]) • RouteGraph as an integrative data structure • Focus on a generic Implementationtogether with a formal Specification • RouteGraph exchange formats • Examplary RouteGraphs • based on a navigation algorithm • cyclist observation • Conclusion, future work SFB/IQN-Kolloquium 26.09.03 - 0 -

  2. sensor data • speech input • pre-existing maps Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] Goal scenario - motivation • Wheelchair as an autonomous vehicle, processing spatial knowledge from... SFB/IQN-Kolloquium 26.09.03 - 1 -

  3. blueprint vectorial sensors grid-based Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] Goal scenario - tasks • Map abstraction and interpretation • Use of sensor based mapping algorithms for indoor robot navigation • Abstraction of pre-existing maps to RouteGraphs • Realtime RouteGraph generation and interactive manipulation SFB/IQN-Kolloquium 26.09.03 - 2 -

  4. Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] Goal scenario - tasks • RouteGraph augmentation • Natural language statements about spatial relations • Combining qualitative and quantitative information for navigation • Merging RouteGraphs from different sources SFB/IQN-Kolloquium 26.09.03 - 3 -

  5. Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] Goal scenario - collaboration • I4-[SPIN] • Formal specification of RouteGraph concepts using CASL • Architectural specifications such as „implementation units“ • Basic specifications like „axioms“ or „data type constructs“ • Allows tool-supported reasoning andconsistency checks Spec Place = sort Refsystem, RefPosition free type Place::=place( refSystem: RefSystem;refPosition: RefPosition)... SFB/IQN-Kolloquium 26.09.03 - 4 -

  6. Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] Goal scenario - collaboration • I3-[SharC] • Providing formal descriptions of natural language dialog • XML-like representation of instructions with the perspective of full featured dialogs • Detection of situations with shared control problems by means of formal specification (CSP) <GoalInstruction kind="drive">   <GoalObject kind="cube">     <RelativePosition orientation="behind">       <SpatialObject kind="box"/>     </RelativePosition>   </GoalObject></GoalInstruction> SFB/IQN-Kolloquium 26.09.03 - 5 -

  7. Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] RouteGraph1 as an integrative data structure RouteGraph 1 • Terminology n • Kind • Place • Reference Position • Reference System • Route Segment • Entry • Exit • Course • Route • Transition • RouteGraph Layer • RouteGraph RouteGraphLayer 1 1 1 1 n n 1 Route n Place Transition 1 n RouteSegment 1 1 1 1 ReferencePosition 1 1 1 1 Exit ReferenceSystem Course Entry 1 [Werner, Brückner, Herrmann] „Modelling Navigational Knowledge by Route Graphs“ SFB/IQN-Kolloquium 26.09.03 - 6 -

  8. Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] RouteGraph as an integrative data structure • Relations to previous work (Spatial Semantic Hierarchy2) 2 [Kuipers et al.] „The Spatial Semantic Hierarchy“ SFB/IQN-Kolloquium 26.09.03 - 7 -

  9. ReferencePosition_Abstraction ReferencePosition_Abstraction_Rolland ReferencePosition_Abstraction_Pioneer ReferencePosition_Implementor_Pioneer ReferencePosition_Implementor_Rolland ReferencePosition_Implementor Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] RouteGraph as an integrative data structure • RouteGraph API • C++ implementation • Generic by means of consequential use of the bridge-pattern 1 1 SFB/IQN-Kolloquium 26.09.03 - 8 -

  10. Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] RouteGraph as an integrative data structure • RouteGraph API • HTML-based documentation simplifies porting to other platforms SFB/IQN-Kolloquium 26.09.03 - 9 -

  11. <Place • Id="3" • Kind=KI_ROLLAND_METRIC"> • <ReferencePosition • Id="1" • Kind="KI_ROLLAND_METRIC" • pos.driving_speed="0.000000" • pos.heading="0.000000" • pos.steering="0.000000" • pos.steering_speed="0.000000" • pos.x="0.000000" • pos.y="0.000000" • /> • </Place> Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] RouteGraph as an integrative data structure • RouteGraph exchange formats • XML – object tree • current tools supporting RouteGraph.XML : XMLSpy (xml-viewer) Matlab (content visualization) SFB/IQN-Kolloquium 26.09.03 - 10 -

  12. Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] RouteGraph as an integrative data structure • RouteGraph exchange formats • daVinci – term representation SFB/IQN-Kolloquium 26.09.03 - 11 -

  13. Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] RouteGraph as an integrative data structure • RouteGraph exchange formats • daVinci – example SFB/IQN-Kolloquium 26.09.03 - 12 -

  14. Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] Examplary RouteGraph • Essential navigation algorithms (1):Steering with „Continuous Curvature Paths“3 • Basic strategy for driving in obstacle free space • CCPs consist of circular arcs, clothoids and line segments • CCPs correspond to the nonholonomic properties of a car-like robot 3 [Fraichard, Scheuer] „Planning continuous-curvature paths for car-like robots“ SFB/IQN-Kolloquium 26.09.03 - 13 -

  15. OpenGL hardware allows fast computation of voronoi faces4 • Edge detection via convolution filter • Solution of A* search in pixel space combined with start- and goalCCT Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] Examplary RouteGraph • Essential navigation algorithms (2):Navigating with CCPs and Voronoi Diagrams • Extraction of navigational knowledge from sensoric input 4 [Kenneth et al.] „Fast computation of generalized voronoi diagrams using graphics hardware“ SFB/IQN-Kolloquium 26.09.03 - 14 -

  16. Virtual laser scanner as an example for abstracting pre-existing maps to RouteGraphs Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] Examplary RouteGraph • Essential navigation algorithms (3): Lack of navigational knowledge when input is limited to real sensors SFB/IQN-Kolloquium 26.09.03 - 15 -

  17. Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] Examplary RouteGraph Rolland CCT-PathPlanner SFB/IQN-Kolloquium 26.09.03 - 16 -

  18. Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] Examplary RouteGraph Cyclist Navigation Hand-Keyboard GPS SFB/IQN-Kolloquium 26.09.03 - 17 -

  19. Current implementation supports metrical and topological layers • Integration of reasoning calculus within the topological layer • Extraction of spatial knowledge from pre-existing maps (virtual laser scanner, ...) • Detection and Classification of architectural features within blueprints Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap] Conclusion, future work • RouteGraph as an agent independet structure for navigational tasks • Investigation of new Layers (dialog-layer, ...) • Support of RouteGraph-porting to other platforms and domains SFB/IQN-Kolloquium 26.09.03 - 18 -

  20. Thank You ;-)

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