Semantic reasoning in service robots using expert systems
| Autor: | Reynaldo Martell, Mauricio Matamoros, Luis Contreras, Hugo Estrada, Hiroyuki Okada, Marco Negrete, Jesus Savage, Julio César Pérez Cruz, David A. Rosenblueth |
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| Rok vydání: | 2019 |
| Předmět: |
Service robot
Statement (computer science) 0209 industrial biotechnology Service (systems architecture) business.industry Computer science General Mathematics 02 engineering and technology computer.software_genre Expert system Computer Science Applications 03 medical and health sciences 020901 industrial engineering & automation 0302 clinical medicine Control and Systems Engineering 030220 oncology & carcinogenesis Robot Artificial intelligence Inference engine business computer Software Natural language Natural language processing Sentence |
| Zdroj: | Robotics and Autonomous Systems. 114:77-92 |
| ISSN: | 0921-8890 |
| DOI: | 10.1016/j.robot.2019.01.007 |
| Popis: | This paper presents the semantic-reasoning module of VIRBOT, our proposed architecture for service robots. We show that by combining symbolic AI with digital-signal processing techniques this module achieves competitive performance. Our system translates a voice command into an unambiguous representation that helps an inference engine, built around an expert system, to perform action and motion planning. First, in the natural-language interpretation process, the system generates two outputs: (1) conceptual dependence, expressing the linguistic meaning of the statement, and (2) verbal confirmation, a paraphrase in natural language that is repeated to the user to confirm that the command has been correctly understood. Then, a conceptual-dependency interpreter extracts semantic role structures from the input sentence and looks for such structures in a set of known interpretation patterns. We evaluate this approach in a series of skill-specific semantic-reasoning experiments. Finally, we demonstrate our system in the general-purpose service robot test of the RoboCup-at-Home international competition, where incomplete information is given to a robot and the robot must recognize and request the missing information, and we compare our results with a series of baselines from the competition where our proposal performed best. |
| Databáze: | OpenAIRE |
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