Voice Dialogue with a Collaborative Robot Driven by Multimodal Semantics

详细信息    查看全文

• 关键词：Collaborative robots ; Autonomous navigation of a mobile robot ; Path searching ; Hybrid terrain map ; Safety of movements of a mobile robot ; Multimodal model of the world ; Semantic network ; Voice dialogue
• 刊名：Lecture Notes in Computer Science
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：9812
• 期：1
• 页码：225-233
• 全文大小：856 KB
• 参考文献：1.Lim, G.H., Suh, I.H., Suh, H.: Ontology-based unified robot knowledge for service robots in indoor environments. Trans. IEEE Syst. Man Cybern. Part A Syst. Hum. 41(3), 492–509 (2011)CrossRef
  2.Heriberto, C., Nina, D., Kai-Florian, R., Thora, T., John, B.: A dialogue system for indoor wayfinding using text-based natural language. Int. J. Comput. Linguist. Appl. 1(1–2), 285–304 (2010)
  3.Skubic, M., Perzanowski, D., Schultz, A., Adams, W.: Using spatial language in a human-robot dialog. In: IEEE International Conference on Robotics and Automation, vol. 4, pp. 4143–4148 (2002)
  4.Zhonin, A., Kargin, D., Sergiyevskiy, N., Kharlamov, A.: Model mira robota na osnove sensoriki blokov navigatsii, tekhnicheskogo zreniya i rechevogo dialoga. Trudy mezhdunarodnoy molodezhnoy konferentsii Informatsionnyye sistemy i tekhnologii, pp. 68–69 (2012)
  5.Ermishin, K., Vorotnikov, S.: Intellektualnaya sistema upravleniya servisnym mobilnym robotom. Politekhnika-servis, Ekstremalnaya robototekhnika. Trudy vserossiyskoy nauchno-tekhnicheskoy konferentsii, Sankt-Peterburg (2012)
  6.Ermishin, K., Vorotnikov, S.: Multiagentnaya sensornaya sistema servisnogo mobilnogo robota. Vestnik MGTU im. N. E. Baumana. Ser. Priborostroyeniye 6, 50–59 (2012)
  7.Kharlamov, A.: Neyrosetevaya tekhnologiya predstavleniya i obrabotki informatsii (estestvennoye predstavleniye znaniy). Radiotekhnika (2006)
  
• 作者单位：Alexander Kharlamov (16)
  Konstantin Ermishin (17)
  
  16. Institute of Higher Nervous Activity and Neurophysiology of RAS, Moscow, Russian Federation
  17. Bauman Moscow State Technical University, Moscow, Russian Federation
  
• 丛书名：Interactive Collaborative Robotics
• ISBN：978-3-319-43955-6
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349
• 卷排序：9812

文摘

The paper describes the control system of an autonomous mobile service robot using a human-machine dialogue to control the robot in a way natural for human with the help of syntactic structures that define the sequence of certain actions. The interaction with the robot by means of natural language in the formation of target designations is provided by the multimodal representation of the working area in the form of a hybrid map of the surrounding space with highlited work areas and locations of key objects complemented by a set of semantic relations that characterize features of the robot operation and impact of the environmental changes on its operation. The article discusses the control system of the mobile service robo, performing transport and logistics operations in a public place in direct contact with lots of people around. The proposed approach to the dialog control of the robot based on the multimodal representation of the robot operation area not only simplifies the process of determining the sequence of operations, but also enhances the level of safety for other people, objects and the robot itself in the process of fulfilling its service tasks.