A two-layer model for behavior and dialogue planning in conversational service robots

Abstract — This paper presents a model for the behavior and dialogue planning module of conversational service robots. Most of the previously built conversational robots cannot perform dialogue management necessary for accurately recognizing human intentions and providing information to humans. This model integrates robot behavior planning models with spoken dialogue management that is robust enough to engage in mixedinitiative dialogues in specific domains. It has two layers; the upper layer is responsible for global task planning using hierarchical planning and the lower layer engages in local planning by utilizing modules called experts, which are specialized for performing certain kind of tasks by performing physical actions and engaging in dialogues. This model enables switching and canceling tasks based on recognized human intentions. A preliminary implementation of the model, which has been integrated with Honda ASIMO, has shown its effectiveness. Index Terms — conversational robot, service robot, behavior and dialogue planning, dialogue management I