Cooperative task achievement system between humans and robots based on stochastic memory model of spatial environment

Authors:
Tetsunari Inamura;Tomohiro Kawaji;Tomoyuki Sonoda;Kei Okada;Masayuki Inaba
Affiliations:
National Institute of Informatics, Japan and Dept. of Informatics, The Graduate University for Advanced Studies, Japan and Dept. of Mechano-Informatics, The University of Tokyo, Japan;Dept. of Mechano-Informatics, The University of Tokyo, Japan;Dept. of Mechano-Informatics, The University of Tokyo, Japan;Dept. of Mechano-Informatics, The University of Tokyo, Japan;Dept. of Mechano-Informatics, The University of Tokyo, Japan
Venue:
JSAI'06 Proceedings of the 20th annual conference on New frontiers in artificial intelligence
Year:
2006

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Abstract

Design and acquisition method of environmental model are important issues for robots which act in the real world such as a daily life environment. Robots have to follow up changes of environment and reconstruct the model because of the conditions in the real world environment would be changed constantly. Also the model for unobserved part would be needed and should be inferred when users instruct the robot using symbolic expressions. In this paper, we have focused on stochastic representation of environmental memory to realize smooth communication between humans and robots, and realtime memory management with ambiguities in the real world. We also show that the representation is effective to construct a cooperative task achievement system on intelligent robots.