Interaction awareness for joint environment exploration
2007 (English)In: 2007 RO-MAN: The 16th IEEE International Symposium on Robot and Human interactive Communication, IEEE , 2007, 546-551 p.Conference paper (Refereed)
An important goal for research on service robots is the cooperation of a human and a robot as team. A service robot in a domestic environment needs to build a representation of its future workspace that corresponds to the human user's understanding of these surroundings. But it also needs to apply this model about the "where" and "what" in its current interaction to allow communication about objects and places in a human-adequate way. In this paper we present the integration of a hierarchical robotic mapping system into an interactive framework controlled by a dialog system. The goal is to use interactively acquired environment models to implement a robot with interaction aware behaviors. A major contribution of this work is a three-level hierarchy of spatial representation affecting three different communication dimensions. This hierarchy is consequently applied in the design of the grounding-based dialog, laser-based topological mapping, and an objects attention system. We demonstrate the benefits of this integration for learning and tour guiding in a human-comprehensible interaction between a robot and its user in a home-tour scenario. The enhanced interaction capabilities are crucial for developing a new generation of robots that will be accepted not only as service robots but also as robot companions.
Place, publisher, year, edition, pages
IEEE , 2007. 546-551 p.
Attention system, Dialog systems, Domestic environments, Environment exploration, Environment modeling, Human users, Interactive communications, International conferences, New generation, Robotic mapping, Service robots, Spatial representations, Topological mapping
Other Engineering and Technologies
IdentifiersURN: urn:nbn:se:kth:diva-154933DOI: 10.1109/ROMAN.2007.4415146ISI: 000255993700102ScopusID: 2-s2.0-48749120934ISBN: 1424416345ISBN: 978-142441634-9OAI: oai:DiVA.org:kth-154933DiVA: diva2:759543
16th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN, 26 August 2007 through 29 August 2007, Jeju, South Korea
QC 201410302014-10-302014-10-292014-10-30Bibliographically approved