An interactive approach for situated task specification through verbal instructions
An interactive approach for situated task specification through verbal instructions
复制标题
通过口头指令指定情境任务的交互式方法
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
M. Veloso
中科院分区：
文献类型：
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作者：
Çetin Meriçli;Steven D. Klee;Jack Paparian;M. Veloso
对于部署在拥挤的办公环境中的移动服务机器人来说，无需编写特殊软件即可指定任务的能力是一个重要而突出的特征，它可以在周围工作并与人互动。本文提出了一种交互式的方法，使用户能够通过口头命令向移动服务机器人指示任务，输入以输入或口头指令的形式给出，然后将其映射到机器人上可用的感知和执行基元。这项工作的主要贡献是增加了关于指定动作将以闭环方式执行的感官信息的条件，以及允许在稍后的时间通过在测试执行期间提供替换动作来修改或校正现有任务的校正模式。我们描述了该方法的所有组件以及实现细节和说明性例子。我们还讨论了所提出的方法的可扩展性，并指出了未来可能的扩展。
The ability to specify a task without having to write special software is an important and prominent feature for a mobile service robot deployed in a crowded office environment, working around and interacting with people. In this paper, we contribute an interactive approach for enabling the users to instruct tasks to a mobile service robot through verbal commands.The input is given as typed or spoken instructions, which are then mapped to the available sensing and actuation primitives on the robot. The main contributions of this work are the addition of conditionals on sensory information that the specified actions to be executed in a closed-loop manner, and a correction mode that allows an existing task to be modified or corrected at a later time by providing a replacement action during the test execution.We describe all the components of our approach along with the implementation details and illustrative examples in depth. We also discuss the extensibility of the presented approach, and point out potential future extensions.