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Spatial Knowledge Representation for Human-Robot Interaction [chapter]

Reinhard Moratz, Thora Tenbrink, John Bateman, Kerstin Fischer
Spatial Cognition III  
In this paper, we present the beginnings of a computational model for representing spatial knowledge that is appropriate for interaction between humans and mobile robots.  ...  Natural human-robot interaction, computational modeling of spatial knowledge, reference systems  ...  We thank Bernd Hildebrandt for constructing the parser. And we would like  ... 
doi:10.1007/3-540-45004-1_16 dblp:conf/spatialCognition/MoratzTBF03 fatcat:qml3vkg42vhxvdbjbuexsgompi

Situated dialogue and understanding spatial organization: Knowing what is where and what you can do there

Geert-jan Kruijff, Hendrik Zender, Patric Jensfelt, Henrik Christensen
2006 ROMAN 2006 - The 15th IEEE International Symposium on Robot and Human Interactive Communication  
The paper presents an HRI architecture for human-augmented mapping.  ...  Through interaction with a human, the robot can augment its autonomously learnt metric map with qualitative information about locations and objects in the environment.  ...  Following [4] , [5] we talk about Human-Augmented Mapping (HAM) to indicate the active role that human-robot interaction plays in the robot's acquisition of qualitative spatial knowledge.  ... 
doi:10.1109/roman.2006.314438 dblp:conf/ro-man/KruijffZJC06 fatcat:ktiq4jqmmvgzhphnwapotn6vwa

Schematic Maps for Robot Navigation [chapter]

Christian Freksa, Reinhard Moratz, Thomas Barkowsky
2000 Lecture Notes in Computer Science  
Different requirements for local and global spatial information are noted. Different types of spatial representations for spatial knowledge are contrasted.  ...  An approach to high-level interaction with autonomous robots by means of schematic maps is outlined.  ...  We apologize for not having incorporated all suggestions.  ... 
doi:10.1007/3-540-45460-8_8 fatcat:vs2yfaf24fhjfeaic5rsly3o64

Grounding spatial relations in natural language by fuzzy representation for human-robot interaction

Jiacheng Tan, Zhaojie Ju, Honghai Liu
2014 2014 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)  
This paper addresses the issue of grounding spatial relations in natural language for human-robot interaction and robot control.  ...  Keywords-spatial relations; fuzzy set; human-robot interaction; artificial intelligence. I.  ...  In the study of human-robot interaction, using natural language as an interface for human-robot interaction has gained a lot of momentum in recent years.  ... 
doi:10.1109/fuzz-ieee.2014.6891797 dblp:conf/fuzzIEEE/TanJL14 fatcat:7gttwgognvbv5fx43rsa6fdp3e

Conceptual spatial representations for indoor mobile robots

H. Zender, O. Martínez Mozos, P. Jensfelt, G.-J.M. Kruijff, W. Burgard
2008 Robotics and Autonomous Systems  
We present an approach for creating conceptual representations of human-made indoor environments using mobile robots.  ...  The complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition.  ...  Multi-Layered Spatial Representation The sensors that a robot has are very different from the human sensory modalities.  ... 
doi:10.1016/j.robot.2008.03.007 fatcat:mepud53dhndzpkgcftvyhvyhlu

Situated Dialogue and Spatial Organization: What, Where… and Why?

Geert-Jan M. Kruijff, Hendrik Zender, Patric Jensfelt, Henrik I. Christensen
2007 International Journal of Advanced Robotic Systems  
The paper presents an HRI architecture for human-augmented mapping.  ...  Through interaction with a human, the robot can augment its autonomously learnt metric map with qualitative information about locations and objects in the environment.  ...  The research reported of in this article was supported by the EU FP6 IST Cognitive Systems Integrated Project Cognitive Systems for Cognitive Assistants "CoSy" FP6-004250-IP.  ... 
doi:10.5772/5701 fatcat:h4oht6xb6rfdhlqvfmz4qlnsaa

Cognitive Tools for Humanoid Robots in Space

Donald Sofge, Dennis Perzanowski, Marjorie Skubic, Magdalena Bugajska, J. Gregory Trafton, Nicholas Cassimatis, Derek Brock, William Adams, Alan Scbultz
2004 IFAC Proceedings Volumes  
The key to achieving this interaction is to provide the robot with sufficient skills for natural communication with humans so that humans can interact with the robot almost as though it were another human  ...  humans and robots through use of common representations and shared humanlike behaviors.  ...  ACKNOWLEDGEMENTS Support for this effort was provided by the DARPA IPTO Mobile Autonomous Robot Software (DARPA MARS) Program.  ... 
doi:10.1016/s1474-6670(17)32199-7 fatcat:mmzrutoa6vaorhx2lmv2biiiky

Commonsense Scene Semantics for Cognitive Robotics: Towards Grounding Embodied Visuo-Locomotive Interactions

Jakob Suchan, Mehul Bhatt
2017 2017 IEEE International Conference on Computer Vision Workshops (ICCVW)  
We present a commonsense, qualitative model for the semantic grounding of embodied visuo-spatial and locomotive interactions.  ...  The key contribution is an integrative methodology combining low-level visual processing with high-level, human-centred representations of space and motion rooted in artificial intelligence.  ...  by context-dependent knowledge about objects and environments) such that the representation enables robotic agents to execute everyday interaction tasks (involving manipulation and movement) appropriately  ... 
doi:10.1109/iccvw.2017.93 dblp:conf/iccvw/SuchanB17 fatcat:y6hjq7mtjfgxvfg4bcuhzpb73y

Interaction Awareness for Joint Environment Exploration

Thorsten Spexard, Shuyin Li, Britta Wrede, Marc Hanheide, Elin A. Topp, Helge Huttenrauch
2007 RO-MAN 2007 - The 16th IEEE International Symposium on Robot and Human Interactive Communication  
An important goal for research on service robots is the cooperation of a human and a robot as team.  ...  A major contribution of this work is a three-level hierarchy of spatial representation affecting three different communication dimensions.  ...  Based upon findings on human representation of spatial knowledge [4] that indicate a hierarchical representation on the one hand and observations on how users reference different spatial entities during  ... 
doi:10.1109/roman.2007.4415146 dblp:conf/ro-man/SpexardLWHTH07 fatcat:6qluhz5a4jb23jaz6jafwsa3fy

Living with robots: Interactive environmental knowledge acquisition

Guglielmo Gemignani, Roberto Capobianco, Emanuele Bastianelli, Domenico Daniele Bloisi, Luca Iocchi, Daniele Nardi
2016 Robotics and Autonomous Systems  
Moreover, novel improvements in human-robot interaction support the view that robots should be regarded as intelligent agents that can request the help of the user to improve their knowledge and performance  ...  Instead of requiring our robots to autonomously learn every possible aspect of the environment, we propose a shift in perspective, allowing non-expert users to shape robot knowledge through human-robot  ...  through human interaction.  ... 
doi:10.1016/j.robot.2015.11.001 fatcat:fpz5akt7c5ehhn4xj4ewdgnrky

Commonsense Scene Semantics for Cognitive Robotics: Towards Grounding Embodied Visuo-Locomotive Interactions [article]

Jakob Suchan, Mehul Bhatt
2017 arXiv   pre-print
We present a commonsense, qualitative model for the semantic grounding of embodied visuo-spatial and locomotive interactions.  ...  The key contribution is an integrative methodology combining low-level visual processing with high-level, human-centred representations of space and motion rooted in artificial intelligence.  ...  is interpreted within the AI subdisciplines of knowledge representation and reasoning, and commonsense reasoning, and within spatial cognition & computation, and more broadly, within spatial information  ... 
arXiv:1709.05293v1 fatcat:5ll7cn2s6bahpfcjjiuxs3hrfi

Cognitive instruction interface for mobile robot navigation

Mohammed Elmogy, Christopher Habel, Jianwei Zhang
2009 2009 International Conference on Computer Engineering & Systems  
Spatial knowledge can be represented in various ways to increase the interaction between human users and mobile robots. One effective way is to describe the route verbally to the robot.  ...  We present a spatial language to describe route-based navigation tasks for a mobile robot.  ...  INTRODUCTION more natural interaction between human users and mobile robots can be achieved by bridging the gap between the format of spatial knowledge used by robots and the format of spatial languages  ... 
doi:10.1109/icces.2009.5383298 fatcat:ujfiirnxmjbcnlvv77rgp5gj2m

Deep Semantic Abstractions of Everyday Human Activities: On Commonsense Representations of Human Interactions [article]

Jakob Suchan, Mehul Bhatt
2017 arXiv   pre-print
We propose a deep semantic characterization of space and motion categorically from the viewpoint of grounding embodied human-object interactions.  ...  motion in cognitive robotics settings.  ...  Deep Semantics, and Reasoning about Human-Robot Interactions The starting point of our work is from formal commonsense representation and reasoning techniques developed in the field of Artificial Intelligence  ... 
arXiv:1710.04076v1 fatcat:7fjqm3qgvffqrl6ahfcxljctym

Successive Developmental Levels of Autobiographical Memory for Learning Through Social Interaction

Gregoire Pointeau, Maxime Petit, Peter Ford Dominey
2014 IEEE Transactions on Autonomous Mental Development  
A developing cognitive system will ideally acquire knowledge of its interaction in the world, and will be able to use that knowledge to construct a scaffolding for progressively structured levels of behavior  ...  The current research implements and tests an autobiographical memory system by which a humanoid robot, the iCub, can accumulate its experience in interacting with humans, and extract regularities that  ...  Hidot for his advice in the statistical analysis.  ... 
doi:10.1109/tamd.2014.2307342 fatcat:duvv5u74gzenpchq4y4nlrlyve

Knowledge Representation and Reasoning for Perceptual Anchoring

Jonas Melchert, Silvia Coradeschi, Amy Loutfi
2007 19th IEEE International Conference on Tools with Artificial Intelligence(ICTAI 2007)  
This is a first step towards a KRR-supported anchoring framework, that we will use for human-robot communication.  ...  In this work we report results on the use of symbolic knowledge representation and reasoning (KRR) for perceptual anchoring.  ...  human-robot interaction.  ... 
doi:10.1109/ictai.2007.118 dblp:conf/ictai/MelchertCL07 fatcat:e3kzan3wlnhfrnjdrqvzwknzpa
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