Formalise an object-based world representation
Robotic navigation and manipulation have distinct needs but can be achieved using the same set of sensors; this implies that it’s not a matter of needing different data, but rather a matter of representation.
An object-based representation can capture higher-level contextual information such as object temporality, inter-object and object-place associations.
We will develop tools that allow robots to incrementally build a database of objects from geometric and semantic data over the course of their operation. This object database will serve as the foundation for map building, motion planning and task representation.