Authors:
Stefan Schiffer
;
Niklas Hoppe
and
Gerhard Lakemeyer
Affiliation:
RWTH Aachen University, Germany
Keyword(s):
Natural language processing, Decision-theoretic planning, Interpretation, Domestic service robotics.
Related
Ontology
Subjects/Areas/Topics:
Agents
;
Applications
;
Artificial Intelligence
;
Cognitive Robotics
;
Conversational Agents
;
Enterprise Information Systems
;
Formal Methods
;
Human-Computer Interaction
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Intelligent User Interfaces
;
Knowledge Engineering and Ontology Development
;
Knowledge Representation and Reasoning
;
Knowledge-Based Systems
;
Logic Programming
;
Mobile Agents
;
Natural Language Processing
;
Pattern Recognition
;
Physical Agents
;
Planning and Scheduling
;
Robot and Multi-Robot Systems
;
Robotics and Automation
;
Simulation and Modeling
;
Symbolic Systems
Abstract:
In this paper, we propose a system for robust and flexible command interpretation on a mobile robot in domestic service robotics applications. Existing language processing for instructing a mobile robot often make use of a simple, restricted grammar where precisely pre-defined utterances are directly mapped to system calls. This does not take into account fallibility of human users and only allows for binary processing; either a command is part of the grammar and hence understood correctly, or it is not part of the grammar and gets rejected. We model the language processing as an interpretation process where the utterance needs to be mapped to a robot’s capabilities. We do so by casting the processing as a (decision-theoretic) planning problem on interpretatory actions. This allows for a flexible system that can resolve ambiguities and which is also capable of initiating steps to achieve clarification.