STAM: A Framework for Spatio-Temporal Affordance Maps

  • Francesco RiccioEmail author
  • Roberto Capobianco
  • Marc Hanheide
  • Daniele Nardi
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9991)


Affordances have been introduced in literature as action opportunities that objects offer, and used in robotics to semantically represent their interconnection. However, when considering an environment instead of an object, the problem becomes more complex due to the dynamism of its state. To tackle this issue, we introduce the concept of Spatio-Temporal Affordances (STA) and Spatio-Temporal Affordance Map (STAM). Using this formalism, we encode action semantics related to the environment to improve task execution capabilities of an autonomous robot. We experimentally validate our approach to support the execution of robot tasks by showing that affordances encode accurate semantics of the environment.


Spatial knowledge Affordances Semantic agents 


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Copyright information

© Springer International Publishing AG 2016

Authors and Affiliations

  • Francesco Riccio
    • 1
    Email author
  • Roberto Capobianco
    • 1
  • Marc Hanheide
    • 2
  • Daniele Nardi
    • 1
  1. 1.Department of Computer, Control, and Management EngineeringSapienza University of RomeRomeItaly
  2. 2.Lincoln Centre for Autonomous Systems, School of Computer ScienceUniversity of LincolnLincolnUK

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