Paper Info
Title
Using spatial language to drive a robot for an indoor environment fetch task
Abstract
This paper proposes a system that allows the use of natural spatial language to control a robot performing a fetch task in an indoor environment. The system processes spatial referencing language and extracts a tree structure of language chunks. The spatial language system is then grounded to a robot navigation instruction in the form of a sequence of actions based on spatial references to furniture and room structure; the best navigation instruction is selected by scoring. In addition, the Reference-Direction-Target (RDT) model is proposed to represent indoor robot actions. To control the robot for the fetch task, a behavior model is designed based on the RDT model. An assistive robot has been designed and programmed based on this system. The proposed spatial language grounding model and robot behavior model are tested experimentally in three sets of experiments. Results show that the system enables a robot to follow spatial language commands in a physical indoor environment even if the referenced furniture items are re-positioned.
Year
DOI
Venue
2014
10.1109/IROS.2014.6942734
IROS
Keywords
DocType
ISSN
indoor robot actions,natural spatial language,robot navigation instruction,physical indoor environment,human-robot interaction,spatial language system,mobile robots,service robots,assistive robot,tree structure,robot control,reference-direction-target model,natural language processing,spatial referencing language,robot behavior model,rdt,indoor environment fetch task,spatial language grounding model,referenced furniture items
Conference
2153-0858
Citations 
PageRank 
References 
1
0.36
11
Authors
3
Name
Order
Citations
PageRank
Zhiyu Huo171.90
Tatiana Alexenko272.03
Marjorie Skubic31045105.36