Closed-Loop Robot Task Planning Based on Referring Expressions
| Autor: | Felix Burget, Moritz Göbelbecker, Johannes Aldinger, Daniel Kuhner, Wolfram Burgard, Bernhard Nebel |
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| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Adaptive control Computer science Interface (Java) business.industry Control (management) 02 engineering and technology Task (project management) 020901 industrial engineering & automation Human–computer interaction 0202 electrical engineering electronic engineering information engineering Task analysis Robot 020201 artificial intelligence & image processing business Natural language Graphical user interface |
| Zdroj: | IROS |
| DOI: | 10.1109/iros.2018.8593371 |
| Popis: | Increasing the accessibility of autonomous robots also for inexperienced users requires user-friendly and high-level control opportunities of robotic systems. While automated planning is able to decompose a complex task into a sequence of steps which reaches an intended goal, it is difficult to formulate such a goal without knowing the internals of the planning system and the exact capabilities of the robot. This becomes even more important in dynamic environments in which manipulable objects are subject to change. In this paper, we present an adaptive control interface which allows users to specify goals based on an internal world model by incrementally building referring expressions to the objects in the world. We consider fetch-and-carry tasks and automatically deduce potential high-level goals from the world model to make them available to the user. Based on its perceptions our system can react to changes in the environment by adapting the goal formulation within the domain-independent planning system. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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