using routegraphs as an appropriate data structure for navigational tasks sfb/iqn-kolloquium...
TRANSCRIPT
![Page 1: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/1.jpg)
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks
SFB/IQN-Kolloquium 26.09.03
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 Implementation together with a formal Specification
• RouteGraph exchange formats
• Examplary RouteGraphs
• based on a navigation algorithm • cyclist observation
• Conclusion, future work
- 0 -
![Page 2: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/2.jpg)
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
SFB/IQN-Kolloquium 26.09.03 - 1 -
Goal scenario - motivation
• Wheelchair as an autonomous vehicle, processing spatial knowledge from...
• sensor data
• pre-existing maps
• speech input
![Page 3: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/3.jpg)
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
SFB/IQN-Kolloquium 26.09.03 - 2 -
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
vectorial
grid-based
blueprint
sensors
![Page 4: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/4.jpg)
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
SFB/IQN-Kolloquium 26.09.03 - 3 -
Goal scenario - tasks
• RouteGraph augmentation
• Merging RouteGraphs from different sources
• Natural language statements about spatial relations
• Combining qualitative and quantitative information for navigation
![Page 5: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/5.jpg)
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
SFB/IQN-Kolloquium 26.09.03 - 4 -
Goal scenario - collaboration
• I4-[SPIN]
• Formal specification of RouteGraph concepts using CASL
Spec Place =sort Refsystem, RefPositionfree type Place::=place(
refSystem: RefSystem;refPosition: RefPosition)...
• Allows tool-supported reasoning and consistency checks
• Architectural specifications such as „implementation units“
• Basic specifications like „axioms“ or „data type constructs“
![Page 6: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/6.jpg)
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
SFB/IQN-Kolloquium 26.09.03 - 5 -
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>
![Page 7: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/7.jpg)
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
SFB/IQN-Kolloquium 26.09.03 - 6 -
RouteGraph1 as an integrative data structure
• Terminology
1 [Werner, Brückner, Herrmann] „Modelling Navigational Knowledge by Route Graphs“
• Kind• Place• Reference Position• Reference System• Route Segment• Entry• Exit• Course• Route• Transition• RouteGraph Layer• RouteGraph
RouteGraph
RouteGraphLayer
1
n
Route
1
n
RouteSegment
1
n
Place
1
n
Transition
1
n
EntryCourse
Exit
ReferencePosition
ReferenceSystem
1 1 1
11
1
1
1
1
1
![Page 8: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/8.jpg)
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
SFB/IQN-Kolloquium 26.09.03 - 7 -
RouteGraph as an integrative data structure
• Relations to previous work (Spatial Semantic Hierarchy2)
2 [Kuipers et al.] „The Spatial Semantic Hierarchy“
![Page 9: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/9.jpg)
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
SFB/IQN-Kolloquium 26.09.03 - 8 -
RouteGraph as an integrative data structure
• RouteGraph API
• C++ implementation
• Generic by means of consequential use of the bridge-pattern
ReferencePosition_Abstraction
ReferencePosition_Implementor1 1
ReferencePosition_Abstraction_Rolland
ReferencePosition_Abstraction_Pioneer
ReferencePosition_Implementor_Pioneer
ReferencePosition_Implementor_Rolland
![Page 10: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/10.jpg)
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
SFB/IQN-Kolloquium 26.09.03 - 9 -
RouteGraph as an integrative data structure
• RouteGraph API
• HTML-based documentation simplifies porting to other platforms
![Page 11: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/11.jpg)
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
SFB/IQN-Kolloquium 26.09.03 - 10 -
• RouteGraph exchange formats
RouteGraph as an integrative data structure
-<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>
• XML – object tree
• current tools supporting RouteGraph.XML :
XMLSpy (xml-viewer)
Matlab (content visualization)
![Page 12: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/12.jpg)
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
• RouteGraph exchange formats
RouteGraph as an integrative data structure
SFB/IQN-Kolloquium 26.09.03 - 11 -
• daVinci – term representation
![Page 13: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/13.jpg)
SFB/IQN-Kolloquium 26.09.03 - 12 -
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
• RouteGraph exchange formats
RouteGraph as an integrative data structure
• daVinci – example
![Page 14: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/14.jpg)
SFB/IQN-Kolloquium 26.09.03 - 13 -
Examplary RouteGraph
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
• Essential navigation algorithms (1): Steering with „Continuous Curvature Paths“3
3 [Fraichard, Scheuer] „Planning continuous-curvature paths for car-like robots“
• 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
![Page 15: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/15.jpg)
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
SFB/IQN-Kolloquium 26.09.03 - 14 -
Examplary RouteGraph
• Essential navigation algorithms (2): Navigating with CCPs and Voronoi Diagrams
4 [Kenneth et al.] „Fast computation of generalized voronoi diagrams using graphics hardware“
• Extraction of navigational knowledge from sensoric input • 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
![Page 16: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/16.jpg)
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
SFB/IQN-Kolloquium 26.09.03 - 15 -
Examplary RouteGraph
• Essential navigation algorithms (3): Lack of navigational knowledge when input is limited to real sensors
• Virtual laser scanner as an example for abstracting pre-existing maps to RouteGraphs
![Page 17: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/17.jpg)
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
SFB/IQN-Kolloquium 26.09.03 - 16 -
Examplary RouteGraph
Rolland CCT-PathPlanner
![Page 18: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/18.jpg)
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
SFB/IQN-Kolloquium 26.09.03 - 17 -
Examplary RouteGraph
GPS Hand-Keyboard
Cyclist Navigation
![Page 19: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/19.jpg)
Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks Christian Mandel, A1-[RoboMap]
SFB/IQN-Kolloquium 26.09.03 - 18 -
Conclusion, future work
• RouteGraph as an agent independet structure for navigational tasks
• Current implementation supports metrical and topological layers
• Integration of reasoning calculus within the topological layer
• Investigation of new Layers (dialog-layer, ...)
• Extraction of spatial knowledge from pre-existing maps (virtual laser scanner, ...)
• Detection and Classification of architectural features within blueprints
• Support of RouteGraph-porting to other platforms and domains
![Page 20: Using RouteGraphs as an Appropriate Data Structure for Navigational Tasks SFB/IQN-Kolloquium 26.09.03 Christian Mandel, A1-[RoboMap] Overview Goal scenario](https://reader035.vdocument.in/reader035/viewer/2022062803/56649f2f5503460f94c491be/html5/thumbnails/20.jpg)
Thank You ;-)