Cooperative Task Achievement System Between Humans and Robots Based on Stochastic Memory Model of Spatial Environment

摘要

Design and acquisition method of environmental model are important issues for robots which act in the real world such as a daily life environment. Robots have to follow up changes of environment and reconstruct the model because of the conditions in the real world environment would be changed constantly. Also the model for unobserved part would be needed and should be inferred when users instruct the robot using symbolic expressions. In this paper, we have focused on stochastic representation of environmental memory to realize smooth communication between humans and robots, and realtime memory management with ambiguities in the real world. We also show that the representation is effective to construct a cooperative task achievement system on intelligent robots.