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Approaching Qualitative Spatial Reasoning About Distances and Directions in Robotics

  • Guglielmo Gemignani
  • Roberto Capobianco
  • Daniele Nardi
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9336)

Abstract

One of the long-term goals of our society is to build robots able to live side by side with humans. In order to do so, robots need to be able to reason in a qualitative way. To this end, over the last years, the Artificial Intelligence research community has developed a considerable amount of qualitative reasoners. The majority of such approaches, however, has been developed under the assumption that suitable representations of the world were available. In this paper, we propose a method for performing qualitative spatial reasoning in robotics on abstract representations of environments, automatically extracted from metric maps. Both the representation and the reasoner are used to perform the grounding of commands vocally given by the user. The approach has been verified on a real robot interacting with several non-expert users.

Keywords

Spatial Relation Automatic Speech Recognition Reference Object Topological Graph Real Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Guglielmo Gemignani
    • 1
  • Roberto Capobianco
    • 1
  • Daniele Nardi
    • 1
  1. 1.Department of Computer, Control, and Management Engineering “Antonio Ruberti”Sapienza University of RomeRomeItaly

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