Indexical grounding for a mobile robot
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2005.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2006
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| Online Access: | http://hdl.handle.net/1721.1/33304 |
| _version_ | 1811096696235491328 |
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| author | Kehoe, Charles W. (Charles Ward) |
| author2 | Deb Kumar Roy. |
| author_facet | Deb Kumar Roy. Kehoe, Charles W. (Charles Ward) |
| author_sort | Kehoe, Charles W. (Charles Ward) |
| collection | MIT |
| description | Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2005. |
| first_indexed | 2024-09-23T16:47:35Z |
| format | Thesis |
| id | mit-1721.1/33304 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T16:47:35Z |
| publishDate | 2006 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/333042019-04-11T03:13:29Z Indexical grounding for a mobile robot Semantic grounding in a natural language interface Kehoe, Charles W. (Charles Ward) Deb Kumar Roy. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Electrical Engineering and Computer Science. Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2005. Includes bibliographical references (p. 26-27). We have outfitted a mobile research robot with several sensors and algorithms designed to facilitate small- and large-scale navigation and natural language interaction. We begin with a parser using a large, hand-crafted English grammar and lexicon. We then add a standard gradient navigation algorithm for local obstacle avoidance, and a line segment comparison algorithm for basic, high-performance location recognition. The result is a full end-to-end system for natural-language-driven, mobile robotics research. The theme of grounding-mapping linguistic references to the corresponding real-world entities-runs throughout our approach. After the parser simplifies linguistic symbols and structures, we must connect them to the basic concepts that they represent, and then to our system's specific sensor readings and motor commands, to make natural language interaction possible. Additionally, many of the symbols we must ground are indexicals with critical contextual dependencies. We must therefore handle the implicit context that spatial communication carries with it. by Charles W. Kehoe. M.Eng. 2006-07-13T15:13:54Z 2006-07-13T15:13:54Z 2005 2005 Thesis http://hdl.handle.net/1721.1/33304 62279626 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 27 p. 1446546 bytes 1445037 bytes application/pdf application/pdf application/pdf Massachusetts Institute of Technology |
| spellingShingle | Electrical Engineering and Computer Science. Kehoe, Charles W. (Charles Ward) Indexical grounding for a mobile robot |
| title | Indexical grounding for a mobile robot |
| title_full | Indexical grounding for a mobile robot |
| title_fullStr | Indexical grounding for a mobile robot |
| title_full_unstemmed | Indexical grounding for a mobile robot |
| title_short | Indexical grounding for a mobile robot |
| title_sort | indexical grounding for a mobile robot |
| topic | Electrical Engineering and Computer Science. |
| url | http://hdl.handle.net/1721.1/33304 |
| work_keys_str_mv | AT kehoecharleswcharlesward indexicalgroundingforamobilerobot AT kehoecharleswcharlesward semanticgroundinginanaturallanguageinterface |