Modelling Route Instructions for Robust Human-Robot Interaction on Navigation Tasks

摘要

Abstract In this paper, we demonstrate the use of qualitative spatial modelling as thefoundation for the conceptual representation of route instructions, to enable robust human-robot interaction on navigation tasks. Our conceptual model is motivated by empiricalstudies on route navigation, and combines Qualitative Orientation Calculi for spatial rea-soning using directional orientation information and topological maps for structuring routesegments and routes. Moreover, we present a formal de nition of the conceptual model usingthe algebraic speci cation language CASL for syntactic and semantic checking, consistencycheckingand veri cation. Finally, we introduce a generic route graph concept and its formal-ization. The instantiation of the generic route graph at di erent abstraction levels provides aformal foundation for linking the conceptual model to a global environment map used by anintelligent robot, e.g., a semi-autonomous wheelchair, to carry out human navigation tasks.Key words: qualitative spatial calculi; route graph; navigation space; human-robot inter-action; conceptual model; algebraic speci cation