Bringing Together Human and Robotic Environment Representations - A Pilot Study
Elin A. Topp, H.Hüttenrauch, H.I.Christensen, and K.Severinson Eklundh
Royal Institute of Technology, Stockholm, Sweden
Email: {topp,hehu,hic,kse}@csc.kth.se
Abstract
Human interaction with a service robot requires a
shared representation of the environment for spoken dialogue
and task specification where names used for particular locations
are depending on personal preferences. A question is how such
human oriented models can be tied to the geometric robotic
models needed for precise localisation and navigation. We assume
that this integration can be based on the information potential
users give to a service robot about its working environment. We
further believe that this information is best given in an interactive
setting (a "guided tour") in this particular environment. This
paper presents a pilot study that investigates how humans present
a familiar environment to a mobile robot. The study is set up
within our concept of Human Augmented Mapping, for which
we assume an initial "guided tour" scenario to teach a robot itsenvironment. Results from this pilot study are used to validate
a proposed generic environment model for a service robot.