Situated Dialogue and Spatial Organization: What, Where… and Why?
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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2007-03-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/5701 |
| _version_ | 1818282024458256384 |
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| author | Geert-Jan M. Kruijff Hendrik Zender Patric Jensfelt Henrik I. Christensen |
| author_facet | Geert-Jan M. Kruijff Hendrik Zender Patric Jensfelt Henrik I. Christensen |
| author_sort | Geert-Jan M. Kruijff |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-13T00:14:26Z |
| format | Article |
| id | doaj.art-1f7cd7806ac845739be8a9c3f545a5a2 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-13T00:14:26Z |
| publishDate | 2007-03-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-1f7cd7806ac845739be8a9c3f545a5a22022-12-22T00:05:49ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142007-03-01410.5772/570110.5772_5701Situated Dialogue and Spatial Organization: What, Where… and Why?Geert-Jan M. Kruijff0Hendrik Zender1Patric Jensfelt2Henrik I. Christensen3Language Technology Lab, German Research Center for Artificial Intelligence (DFKI GmbH), Saarbrücken, GermanyLanguage Technology Lab, German Research Center for Artificial Intelligence (DFKI GmbH), Saarbrücken, GermanyCentre for Autonomous Systems, Royal Institute of Technology (KTH), Stockholm, SwedenCentre for Autonomous Systems, Royal Institute of Technology (KTH), Stockholm, SwedenThe 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.https://doi.org/10.5772/5701 |
| spellingShingle | Geert-Jan M. Kruijff Hendrik Zender Patric Jensfelt Henrik I. Christensen Situated Dialogue and Spatial Organization: What, Where… and Why? International Journal of Advanced Robotic Systems |
| title | Situated Dialogue and Spatial Organization: What, Where… and Why? |
| title_full | Situated Dialogue and Spatial Organization: What, Where… and Why? |
| title_fullStr | Situated Dialogue and Spatial Organization: What, Where… and Why? |
| title_full_unstemmed | Situated Dialogue and Spatial Organization: What, Where… and Why? |
| title_short | Situated Dialogue and Spatial Organization: What, Where… and Why? |
| title_sort | situated dialogue and spatial organization what where and why |
| url | https://doi.org/10.5772/5701 |
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