@InProceedings{brenneretal07ijcai,
  TITLE =       {Mediating Between Qualitative and Quantitative
                  Representations for Task-Orientated Human-Robot
                  Interaction},
  AUTHOR =      {Brenner, M. and Hawes, N. and Kelleher, J. and
                  Wyatt, J.},
  BOOKTITLE =    {Proc.~of the Twentieth International Joint
                  Conference on Artificial Intelligence (IJCAI)},
  ADDRESS =     {Hyderabad, India},
  YEAR =        2007,
  ABSTRACT =     { It is essential for successful human-robot
                  interaction that the robot is able to both
                  qualitatively understand the intended meaning of the
                  human's utterances and to react to them in the
                  continuous real world. In this paper we present a
                  number of novel techniques that collectively 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. }
}