Michael Brenner, Nick Hawes, John Kelleher and Jeremy Wyatt.
Mediating Between Qualitative and Quantitative Representations for Task-Orientated Human-Robot Interaction.
In Manuela M. Veloso (editor) IJCAI 2007, Proceedings of the 20th International Joint Conference on Artificial Intelligence, pages 2072-2077.
In human-robot interaction (HRI) it is essential that
the robot interprets and reacts to a human’s utterances in a manner that reﬂects their intended meaning. In this paper we present a collection of novel techniques that allow a robot to interpret and execute spoken commands describing manipulation goals involving qualitative spatial constraints (e.g.
“put the red ball near the blue cube”). The resulting implemented system integrates computer vision, potential ﬁeld models of spatial relationships, and action planning to mediate between the continuous real world, and discrete, qualitative representations used for symbolic reasoning.
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