Resolving Conceptual Mode Confusion with Qualitative Spatial Knowledge in Human-Robot Interaction

摘要

This paper presents our work on using qualitative spatial knowledge to resolve conceptual mode confusion occurring frequently during the communication process between human operators and mobile robots. In order to bridge the gap between human's mental representation about space and that of a mobile robot, a qualitative spatial beliefs model is applied. Then with a computational framework based on qualitative spatial reasoning offered by this model, a set of high level strategies are developed and used to support the interpretation of natural language route instructions to mobile robots for navigation tasks.