This paper describes our work on developing effective, efficient and user-friendly interaction between a human operator and a mobile robot on performing spatial navigation tasks. In order to solve the spatially related communication problems caused by the disparity between human mental representation about spatial environments and that of a mobile robot, a qualitative spatial knowledge based four-level conceptual model is proposed. With a computational framework based on an application dependent instance of this model, high-level conceptual strategies are implemented and used to support the human-robot collaborative spatial navigation. An empirical study is then conducted to evaluate the computational framework implemented into a practical interactive system using a real environment map regarding different conceptual strategies.
|Cite as: Jian, C. and Shi, H. (2014). A Conceptual Model for Human-Robot Collaborative Spatial Navigation. In Proc. Asia-Pacific Conference on Conceptual Modelling (APCCM 2014) Auckland, New Zealand. CRPIT, 154. Grossmann, G. and Saeki, M. Eds., ACS. 81-90 |
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