@inproceedings{gobelbecker2011aaai-pamr, author = {G\"{o}belbecker, Moritz and Aydemir, Alper and Pronobis, Andrzej and Sj\"{o}\"{o}, Kristoffer and Jensfelt, Patric}, title = {A Planning Approach to Active Visual Search in Large Environments}, booktitle = {AAAI 2011 Workshop on Automated Action Planning for Autonomous Mobile Robots (PAMR)}, year = 2011, address = {San Francisco, CA, USA}, month = aug, url = {http://www.pronobis.pro/publications/gobelbecker2011aaai-pamr}, abstract = {In this paper we present a principled planner based approach to the active visual object search problem in unknown environments. We make use of a hierarchical planner that combines the strength of decision theory and heuristics. Furthermore, our object search approach leverages on the conceptual spatial knowledge in the form of object co-occurrences and semantic place categorization. A hierarchical model for representing object locations is presented with which the planner is able to perform indirect search. Finally we present real-world experiments to show the feasibility of the approach.} }