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In conversation, people often use spatial relationships to describe their environment, e.g., "There is a desk in front of me and a doorway behind it", and to issue directives, e.g., "Go around the desk and through the doorway." In our research, we have been investigating the use of spatial relationships to establish a natural communication mechanism between people and robots, in particular, for novice users. In this paper, the work on robot spatial relationships is combined with a multi-modal robot interface developed at the Naval Research Lab. We show how linguistic spatial descriptions and other spatial information can be extracted from an evidence grid map and how this information can be used in a natural, human-robot dialog.
In conversation, people often use spatial relationships to describe their environment, e.g., "There is a desk in front of me and a doorway behind it", and to issue directives, e.g., "Go around the desk and through the doorway." In our research, we have been investigating the use of spatial relationships to establish a natural communication mechanism between people and robots, in particular, for novice users. In this paper, the work on robot spatial relationships is combined with a multi-modal robot interface. We show how linguistic spatial descriptions and other spatial information can be extracted from an evidence grid map and how this information can be used in a natural, human-robot dialog. Examples using spatial language are included for both robot-to-human feedback and also human-to-robot commands. We also discuss some linguistic consequences in the semantic representations of spatial and locative information based on this work.
This book considers how people talk about the location of objects and places. The book reports on the latest developments in the field of spatial language and sets an agenda for future research on spatial conceptualization and communication in cognitive science, computer science, psychology, and linguistics.
This dissertation investigates the methods to enable a robot to interact with human using spatial language. A prototype system of human-robot interaction using spatial language running on an autonomous robot is proposed in the dissertation. The system includes two complementary works. One is to control the robot by human natural spatial language to find the target object to fetch it. Another work is to generate a natural spatial language description to describe a target object in the robot working environment. The first task is called spatial language grounding and the second work is named as spatial language generation. The spatial language grounding and generation are both end-to-end process which means the system will determine the output only by the natural language command from a human during the interaction and the raw perception data collected from the environment. Furniture recognizers are designed for the robot to detect the environment during the tasks. A hierarchy system is designed to translate the human spatial language to the symbolic grounding model and then to the robot actions. To reduce the ambiguity in the interaction, a human demonstration system is designed to collect the spatial concept of the human user for building the robot behavior policies under different grounding models. A language generation system trained by real human spatial language corpus is proposed to automatically edit spatial descriptions of the location of a target object. All the modules in the system are evaluated in the physical environment, and a 3D robot simulator developed on ROS and GAZEBO.
Human Centered Robotic Systems must be able to interact with humans such that the burden of adaptation lies with the machine and not with the human. This book collates a set of prominent papers presented during a two-day conference on "Human Centered Robotic Systems" held on November 19-20, 2009, in Bielefeld University, Germany. The aim of the conference was to bring together researchers from the areas of robotics, computer science, psychology, linguistics, and biology who are all focusing on a shared goal of cognitive interaction. A survey of recent approaches, the current state-of-the-art, and possible future directions in this interdisciplinary field is presented. It provides practitioners and scientists with an up-to-date introduction to this dynamic field, with methods and solutions that are likely to significantly impact on our future lives.
In March 2002, the Naval Research Laboratory brought together leading researchers and government sponsors for a three-day workshop in Washington, D.C. on Multi-Robot Systems. The workshop began with presentations by various government program managers describing application areas and programs with an interest in multi robot systems. Government representatives were on hand from the Office of Naval Research, the Air Force, the Army Research Lab, the National Aeronau tics and Space Administration, and the Defense Advanced Research Projects Agency. Top researchers then presented their current activities in the areas of multi robot systems and human-robot interaction. The first two days of the workshop of1ocalizatio~. concentrated on multi-robot control issues, including the topics mapping, and navigation; distributed surveillance; manipulation; coordination and formations; and sensors and hardware. The third day was focused on hu man interactions with multi-robot teams. All presentations were given in a single-track workshop format. This proceedings documents the work presented by these researchers at the workshop. The invited presentations were followed by panel discussions, in which all participants interacted to highlight the challenges of this field and to develop possible solutions. In addition to the invited research talks, students were given an opportunity to present their work at poster sessions.
This thesis talks about a work to design a robot with some to interact with human by spatial language. The robot is a differential drive robot with Kinect camera. The thesis proposes the perception methods which include furniture recognition, furniture orientation detection and robot reposition for recognition performance improvement. The perception uses RGB-Depth image and extracts furniture samples and recognize them by using linguistic model and probability model. A novel method is designed for furniture position and orientation detection. The thesis also shows a method of using robot reposition to improve the recognition performance. The thesis also talks on human robot interaction. It gives a model which can convert human natural spatial language to robot navigation instructions. Several experiments in both physical world and simulation are run to test the efficiency of these algorithms.
This book constitutes the proceedings of the 8th International Conference on Spatial Cognition, SC 2012, held in Kloster Seeon, Germany, in August/September 2012. The 31 papers presented in this volume were carefully reviewed and selected from 59 submissions. The conference deals with spatial cognition, biological inspired systems, spatial learning, communication, robotics, and perception.
Robots That Talk and Listen provides a forward-looking examination of speech and language in robots from technical, functional, and social perspectives. Contributors address cultural foundations as well as the linguistic skills and technologies that robots need to function effectively in real-world settings. Among the most difficult and complex is the ability to understand and use language. Speech-enabled automata are already serving as interactive toys, teacher’s aides, and research assistants. These robots will soon be joined by personal companions, industrial co-workers, and military support automata. The social impact of these and other robots extends well beyond the specific tasks they perform. Contributors tackle the most knotty of those issues, notably acceptance of advanced, speech-enabled robots and developing ethical and moral controls for robots. Topics in this book include: • Language and Beyond: The True Meaning of “Speech Enabled” • Robots in Myth and Media • Enabling Robots to Converse • Language Learning by Automata • Handling Noisy Settings • Empirical Studies of Robots in Real-World Environments • Acceptance of Intelligent Robots • Managing Robots that Can Lie and Deceive • Envisioning a World Shared with Intelligent Robots
This book constitutes the refereed proceedings of the International Conference on Spatial Cognition, Spatial Cognition 2006. It covers spatial reasoning, human-robot interaction, visuo-spatial reasoning and spatial dynamics, spatial concepts, human memory, mental reasoning and assistance, spatial concepts, human memory and mental reasoning, navigation, wayfinding and route instructions as well as linguistic and social issues in spatial knowledge processing.