Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Autonomous Question Answering with Mobile Robots in Human-Populated Environments
University of Washington, Seattle.
University of Washington, Seattle.ORCID iD: 0000-0002-1396-0102
University of Washington, Seattle.
University of Washington, Seattle.
Show others and affiliations
2016 (English)In: Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’16), IEEE, 2016Conference paper, Published paper (Refereed)
Abstract [en]

Autonomous mobile robots will soon become ubiquitous in human-populated environments. Besides their typical applications in fetching, delivery, or escorting, such robots present the opportunity to assist human users in their daily tasks by gathering and reporting up-to-date knowledge about the environment. In this paper, we explore this use case and present an end-to-end framework that enables a mobile robot to answer natural language questions about the state of a large-scale, dynamic environment asked by the inhabitants of that environment. The system parses the question and estimates an initial viewpoint that is likely to contain information for answering the question based on prior environment knowledge. Then, it autonomously navigates towards the viewpoint while dynamically adapting to changes and new information. The output of the system is an image of the most relevant part of the environment that allows the user to obtain an answer to their question. We additionally demonstrate the benefits of a continuously operating information gathering robot by showing how the system can answer retrospective questions about the past state of the world using incidentally recorded sensory data. We evaluate our approach with a custom mobile robot deployed in a university building, with questions collected from occupants of the building. We demonstrate our system's ability to respond to these questions in different environmental conditions.

Place, publisher, year, edition, pages
IEEE, 2016.
Series
IEEE/RSJ International Conference on Intelligent Robots and Systems
Keywords [en]
Robotics
National Category
Computer Vision and Robotics (Autonomous Systems) Robotics
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:kth:diva-214782DOI: 10.1109/IROS.2016.7759146Scopus ID: 2-s2.0-85006354936OAI: oai:DiVA.org:kth-214782DiVA, id: diva2:1143215
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’16)
Projects
VR Project 2012-4907 SKAEENet
Funder
Swedish Research Council, 2012-4907
Note

QC 20170921

Available from: 2017-09-21 Created: 2017-09-21 Last updated: 2018-01-13Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopushttp://ieeexplore.ieee.org/document/7759146/

Search in DiVA

By author/editor
Pronobis, Andrzej
Computer Vision and Robotics (Autonomous Systems)Robotics

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 43 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf