| The spatial behaviors module receives user commands and responses in the form of sketches on a PDA and speech from the Elmer interface. It also receives evidence grid maps and spatial relations information from SRserver and sensory information from the robot. The spatial behaviors module is tightly integrated with a low level obstacle avoidance module and is responsible for issuing direct navigation commands to the robot.
In the example of the video below, the spatial behaviors module takes as input a sketch of a map drawn on a PDA after it has been digitized. The sketch for the particular map is shown in this animation. The animation also shows the spatial route information extracted from the sketch. The spatial behaviors module tries to execute the sketched route in the real world (which in this case is the simulated environment shown in the video).
The most recent process and experiments for ICRA2004 can be found here: Video 1, Video 2, Video 3, Video 4.
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