Case-Based Reasoning in Robot Indoor Navigation

  • Alessandro Micarelli
  • Stefano Panzieri
  • Giuseppe Sansonetti
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4626)


In this paper, we advance a novel approach to the problem of autonomous robot navigation. The environment is a complex indoor scene with very little a priori knowledge, and the navigation task is expressed in terms of natural language directives referring to natural features of the environment itself. The system is able to analyze digital images obtained by applying a sensor fusion algorithm to ultrasonic sensor readings. Such images are classified in different categories using a case-based approach. The architecture we propose relies on fuzzy theory for the construction of digital images, and wavelet functions for their representation and analysis.


Mobile Robot Discrete Wavelet Transform Wavelet Function Robot Navigation Navigation Task 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Alessandro Micarelli
    • 1
  • Stefano Panzieri
    • 1
  • Giuseppe Sansonetti
    • 1
  1. 1.Department of Computer Science and Automation, Roma Tre University, Via della Vasca Navale, 79, 00146 RomeItaly

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