Optimal Use Of Verbal Instructions For Multi-Robot Human Navigation Guidance
Optimal Use Of Verbal Instructions For Multi-Robot Human Navigation Guidance
复制标题
多机器人人类导航指导中口头指令的优化使用
DOI：
10.1007/978-3-030-35888-4_13
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Mooney, R.
中科院分区：
文献类型：
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作者：
Yedidsion, H.;Deans, J.;Sheehan, C.;Chillara, M.;Hart, J.;Stone, P.;Mooney, R.
在室内环境中有效地引导人类是一个具有挑战性的开放问题。由于移动的机器人技术和自然语言处理的最新进展，最近已经可以考虑在移动的口头通信机器人的帮助下这样做。在过去，固定的语言机器人已被用于这一目的，在微软研究院，和移动的非语言机器人已被用于UT奥斯汀在他们的多机器人人类指导系统。本文扩展了移动的多机器人的人类引导研究，在机器人路径规划的基础上，加入了自然语言指令的元素，并在真实的机器人上实现和测试了该系统。从机器人路径规划中生成自然语言指令，开辟了各种优化机会，如决定机器人的位置，人类的引导位置，以及如何口头指导他们。我们提出了完整的多机器人人类引导系统的实验结果，并表明它比两个基线系统更有效：一个只为人类提供口头指令，另一个只使用单个机器人将用户带到目的地。
Efficiently guiding humans in indoor environments is a challenging open problem. Due to recent advances in mobile robotics and natural language processing, it has recently become possible to consider doing so with the help of mobile, verbally communicating robots. In the past, stationary verbal robots have been used for this purpose at Microsoft Research, and mobile non-verbal robots have been used at UT Austin in their multi-robot human guidance system. This paper extends that mobile multi-robot human guidance research by adding the element of natural language instructions, which are dynamically generated based on the robots’ path planner, and by implementing and testing the system on real robots.Generating natural language instructions from the robots’ plan opens up a variety of optimization opportunities such as deciding where to place the robots, where to lead humans, and where to verbally instruct them. We present experimental results of the full multi-robot human guidance system and show that it is more effective than two baseline systems: one which only provides humans with verbal instructions, and another which only uses a single robot to lead users to their destinations.