Interaction Awareness for Joint Environment Exploration

Spexard TP, Li S, Wrede B, Hanheide M, Topp EA, Hüttenrauch H (2007)
In: 16th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2007). IEEE: 546-551.

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Konferenzbeitrag | Veröffentlicht | Englisch
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Abstract / Bemerkung
An important goal for research on service robots is the cooperation of a human and a robot as team. A service robot in a domestic environment needs to build a representation of its future workspace that corresponds to the human useru2019s understanding of these surroundings. But it also needs to apply this model about the "where" and "what" in its current interaction to allow communication about objects and places in a human-adequate way. In this paper we present a first integration of a hierarchical robotic mapping system into an interactive framework controlled by a dialog system. The goal is to use interactively acquired environment models to implement a robot with interaction aware behaviors. A major contribution of this work is a three-level hierarchy of spatial representation affecting three different communication dimensions. This hierarchy is consequently applied in the design of the grounding-based dialog, laser-based topological mapping, and an objects attention system. We demonstrate the benefits of this integration for learning and tour guiding in a human comprehensible interaction between a robot and its user in a home-tour scenario. The enhanced interaction capabilities are crucial for developing a new generation of robots that will be accepted not only as service robots but also as robot companions.
Erscheinungsjahr
Titel des Konferenzbandes
16th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2007)
Seite
546-551
Konferenzort
Jeju Island, South Korea
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Spexard TP, Li S, Wrede B, Hanheide M, Topp EA, Hüttenrauch H. Interaction Awareness for Joint Environment Exploration. In: 16th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2007). IEEE; 2007: 546-551.
Spexard, T. P., Li, S., Wrede, B., Hanheide, M., Topp, E. A., & Hüttenrauch, H. (2007). Interaction Awareness for Joint Environment Exploration. 16th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2007), 546-551. IEEE. doi:10.1109/roman.2007.4415146
Spexard, T. P., Li, S., Wrede, B., Hanheide, M., Topp, E. A., and Hüttenrauch, H. (2007). “Interaction Awareness for Joint Environment Exploration” in 16th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2007) (IEEE), 546-551.
Spexard, T.P., et al., 2007. Interaction Awareness for Joint Environment Exploration. In 16th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2007). IEEE, pp. 546-551.
T.P. Spexard, et al., “Interaction Awareness for Joint Environment Exploration”, 16th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2007), IEEE, 2007, pp.546-551.
Spexard, T.P., Li, S., Wrede, B., Hanheide, M., Topp, E.A., Hüttenrauch, H.: Interaction Awareness for Joint Environment Exploration. 16th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2007). p. 546-551. IEEE (2007).
Spexard, Thorsten P., Li, Shuyin, Wrede, Britta, Hanheide, Marc, Topp, Elin A., and Hüttenrauch, Helge. “Interaction Awareness for Joint Environment Exploration”. 16th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2007). IEEE, 2007. 546-551.
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