Combining probabilistic map and dialog for robust life-long office navigation

A design of mobile robot for robust lifelong navigation in oce environment is proposed and evaluated. The key idea is combining probabilistic map and dialog with humans for reducing the location uncertainty. Bayesian inference with the map represented by proba-bilistic automata is used in order to reduce the number of queries and to evaluate the success rate of planned paths. We experimentally implemented the design using a simple Bayesian Network with continuous nodes and demonstrated its eectiveness in a real environment .