RT Journal Article
T1 From perception to action and vice versa: a new architecture showing how perception and action can modulate each other simultaneously
A1 Palomino López, Antonio Jesús
A1 García-Olaya, Ángel
A1 Fernández, Fernando
A1 Bandera-Rubio, Juan Pedro
AB Artificial vision systems can not process all theinformation that they receive from the world in real timebecause it is highly expensive and inefficient in terms ofcomputational cost. However, inspired by biological perceptionsystems, it is possible to develop an artificial attention modelable to select only the relevant part of the scene, as humanvision does. From the Automated Planning point of view, arelevant area can be seen as an area where the objects involvedin the execution of a plan are located. Thus, the planning systemshould guide the attention model to track relevant objects. But,at the same time, the perceived objects may constrain or providenew information that could suggest the modification of a currentplan. Therefore, a plan that is being executed should be adaptedor recomputed taking into account actual information perceivedfrom the world. In this work, we introduce an architecture thatcreates a symbiosis between the planning and the attentionmodules of a robotic system, linking visual features with highlevel behaviours. The architecture is based on the interaction ofan oversubscription planner, that produces plans constrainedby the information perceived from the vision system, and anobject-based attention system, able to focus on the relevantobjects of the plan being executed.
YR 2013
FD 2013-10-09
LK http://hdl.handle.net/10630/6033
UL http://hdl.handle.net/10630/6033
LA eng
NO Presentado en: 6th European Conference on Mobile Robots (ECMR) Sep 25-27, 2013 Barcelona, Spain
NO Spanish MINECO projects TIN2008-06196, TIN2012-38079-C03-03 and TIN2012-38079-C03-02. Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026