| 1. |
- Kruijff, G.-J. M., et al.
(författare)
-
Situated dialogue and spatial organization : What, where... and why?
- 2007
-
Ingår i: International Journal of Advanced Robotic Systems. - : SAGE Publications. - 1729-8806 .- 1729-8814. ; 4:1, s. 125-138
-
Tidskriftsartikel (refereegranskat)abstract
- The paper presents an HRI architecture for human-augmented mapping, which has been implemented and tested on an autonomous mobile robotic platform. Through interaction with a human, the robot can augment its autonomously acquired metric map with qualitative information about locations and objects in the environment. The system implements various interaction strategies observed in independently performed Wizard-of-Oz studies. The paper discusses an ontology-based approach to multi-layered conceptual spatial mapping that provides a common ground for human-robot dialogue. This is achieved by combining acquired knowledge with innate conceptual commonsense knowledge in order to infer new knowledge. The architecture bridges the gap between the rich semantic representations of the meaning expressed by verbal utterances on the one hand and the robot's internal sensor-based world representation on the other. It is thus possible to establish references to spatial areas in a situated dialogue between a human and a robot about their environment. The resulting conceptual descriptions represent qualitative knowledge about locations in the environment that can serve as a basis for achieving a notion of situational awareness.
|
|
| 2. |
|
|
| 3. |
- Zender, H., et al.
(författare)
-
An integrated robotic system for spatial understanding and situated interaction in indoor environments
- 2007
-
Ingår i: AAAI-07/IAAI-07 Proceedings. - 1577353234 - 9781577353232 ; , s. 1584-1589
-
Konferensbidrag (refereegranskat)abstract
- A major challenge in robotics and artificial intelligence lies in creating robots that are to cooperate with people in human-populated environments, e.g. for domestic assistance or elderly care. Such robots need skills that allow them to interact with the world and the humans living and working therein. In this paper we investigate the question of spatial understanding of human-made environments. The functionalities of our system comprise perception of the world, natural language, learning, and reasoning. For this purpose we integrate state-of-the-art components from different disciplines in AI, robotics and cognitive systems into a mobile robot system. The work focuses on the description of the principles we used for the integration, including cross-modal integration, ontology-based mediation, and multiple levels of abstraction of perception. Finally, we present experiments with the integrated “CoSy Explorer ” 1 system and list some of the major lessons that were learned from its design, implementation, and evaluation.
|
|
| 4. |
- Zender, H., et al.
(författare)
-
Conceptual spatial representations for indoor mobile robots
- 2008
-
Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 56:6, s. 493-502
-
Tidskriftsartikel (refereegranskat)abstract
- We present an approach for creating conceptual representations of human-made indoor environments using mobile robots. The concepts refer to spatial and functional properties of typical indoor environments. Following different findings in spatial cognition, our model is composed of layers representing maps at different levels of abstraction. The complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition. The system also incorporates a linguistic framework that actively supports the map acquisition process, and which is used for situated dialogue. Finally, we discuss the capabilities of the integrated system.
|
|
| 5. |
- Zender, H., et al.
(författare)
-
Human- and Situation-Aware People Following
- 2007
-
Ingår i: 2007 RO-MAN. - 9781424416349 ; , s. 1124-1129
-
Konferensbidrag (refereegranskat)abstract
- The paper presents an approach to intelligent, interactive people following for autonomous robots. The approach combines robust methods for simultaneous localization and mapping and for people tracking in order to yield a socially and environmentally sensitive people following behavior. Unlike current purely reactive approaches ("nearest point following") it enables the robot to follow a human in a socially acceptable way, providing verbal and non-verbal feedback to the user where necessary. At the same time, the robot makes use of information about the spatial and functional organization of its environment, so that it can anticipate likely actions performed by a human, and adjust its motion accordingly. As a result, the robot's behaviors become less reactive and more intuitive when following people around an indoor environment. The approach has been fully implemented and tested.
|
|
