Knowledge Representation for Robots through Human-Robot Interaction

The representation of the knowledge needed by a robot to perform complex tasks is restricted by the limitations of perception. One possible way of overcoming this situation and designing "knowledgeable" robots is to rely on the interaction with the user. We propose a multi-modal interaction framework that allows to effectively acquire knowledge about the environment where the robot operates. In particular, in this paper we present a rich representation framework that can be automatically built from the metric map annotated with the indications provided by the user. Such a representation, allows then the robot to ground complex referential expressions for motion commands and to devise topological navigation plans to achieve the target locations.Comment: Knowledge Representation and Reasoning in Robotics Workshop at ICLP 201

Interactive semantic mapping: Experimental evaluation

Robots that are launched in the consumer market need to provide more effective human robot interaction, and, in particular, spoken language interfaces. However, in order to support the execution of high level commands as they are specified in natural language, a semantic map is required. Such a map is a representation that enables the robot to ground the commands into the actual places and objects located in the environment. In this paper, we present the experimental evaluation of a system specifically designed to build semantically rich maps, through the interaction with the user. The results of the experiments not only provide the basis for a discussion of the features of the proposed approach, but also highlight the manifold issues that arise in the evaluation of semantic mapping

SWARMs Ontology: A Common Information Model for the Cooperation of Underwater Robots

In order to facilitate cooperation between underwater robots, it is a must for robots to exchange information with unambiguous meaning. However, heterogeneity, existing in information pertaining to different robots, is a major obstruction. Therefore, this paper presents a networked ontology, named the Smart and Networking Underwater Robots in Cooperation Meshes (SWARMs) ontology, to address information heterogeneity and enable robots to have the same understanding of exchanged information. The SWARMs ontology uses a core ontology to interrelate a set of domain-specific ontologies, including the mission and planning, the robotic vehicle, the communication and networking, and the environment recognition and sensing ontology. In addition, the SWARMs ontology utilizes ontology constructs defined in the PR-OWL ontology to annotate context uncertainty based on the Multi-Entity Bayesian Network (MEBN) theory. Thus, the SWARMs ontology can provide both a formal specification for information that is necessarily exchanged between robots and a command and control entity, and also support for uncertainty reasoning. A scenario on chemical pollution monitoring is described and used to showcase how the SWARMs ontology can be instantiated, be extended, represent context uncertainty, and support uncertainty reasoning.Eurpean Commission, H2020, 66210

Dynamic ontology for service robots

A thesis submitted to the University of Bedfordshire in partial fulfilment of the requirements for the degree of Doctor of PhilosophyAutomatic ontology creation, aiming to develop ontology without or with minimal human intervention, is needed for robots that work in dynamic environments. This is particularly required for service (or domestic) robots that work in unstructured and dynamic domestic environments, as robots and their human users share the same space. Most current works adopt learning to build the ontology in terms of defining concepts and relations of concepts, from various data and information resources. Given the partial or incomplete information often observed by robots in domestic environments, identifying useful data and information and extracting concepts and relations is challenging. In addition, more types of relations which do not appear in current approaches for service robots such as “HasA” and “MadeOf”, as well as semantic knowledge, are needed for domestic robots to cope with uncertainties during human–robot interaction. This research has developed a framework, called Data-Information Retrieval based Automated Ontology Framework (DIRAOF), that is able to identify the useful data and information, to define concepts according to the data and information collected, to define the “is-a” relation, “HasA” relation and “MadeOf” relation, which are not seen in other works, to evaluate the concepts and relations. The framework is also able to develop semantic knowledge in terms of location and time for robots, and a recency and frequency based algorithm that uses the semantic knowledge to locate objects in domestic environments. Experimental results show that the robots are able to create ontology components with correctness of 86.5% from 200 random object names and to associate semantic knowledge of physical objects by presenting tracking instances. The DIRAOF framework is able to build up an ontology for domestic robots without human intervention

Entwicklung einer semantischen Missionssteuerung für autonome Inspektionsroboter

Ziel dieser Arbeit ist die Entwicklung einer semantischen Missionssteuerung für autonome Inspektionsroboter, welche es ermöglicht, den Regelkreis bestehend aus Inspektionsplanung, Planausführung, Inspektionsdatenauswertung, Bewertung der Datenauswertungsergebnisse, Entscheidungsfindung und Neuplanung an Bord des Roboters zu schließen