Conceptual spatial representations for indoor mobile robots

We present an approach for creating conceptual representations of human-made indoor environments using mobile robots. The concepts refer to spatial and functional properties of typical indoor environments. Following findings in cognitive psychology, our model is composed of layers representing maps at different levels of abstraction. The complete system is integrated in a mobile robot endowed with laser and vision sensors for place and object recognition. The system also incorporates a linguistic framework that actively supports the map acquisition process, and which is used for situated dialogue. Finally, we discuss the capabilities of the integrated system

A Review of Verbal and Non-Verbal Human-Robot Interactive Communication

In this paper, an overview of human-robot interactive communication is presented, covering verbal as well as non-verbal aspects of human-robot interaction. Following a historical introduction, and motivation towards fluid human-robot communication, ten desiderata are proposed, which provide an organizational axis both of recent as well as of future research on human-robot communication. Then, the ten desiderata are examined in detail, culminating to a unifying discussion, and a forward-looking conclusion

Designing and Implementing Embodied Agents: Learning from Experience

In this paper, we provide an overview of part of our experience in designing and implementing some of the embodied agents and talking faces that we have used for our research into human computer interaction. We focus on the techniques that were used and evaluate this with respect to the purpose that the agents and faces were to serve and the costs involved in producing and maintaining the software. We discuss the function of this research and development in relation to the educational programme of our graduate students