The spatial semantic hierarchy
Artificial Intelligence
Maintaining knowledge about temporal intervals
Communications of the ACM
Training Personal Robots Using Natural Language Instruction
IEEE Intelligent Systems
Using Orientation Information for Qualitative Spatial Reasoning
Proceedings of the International Conference GIS - From Space to Territory: Theories and Methods of Spatio-Temporal Reasoning on Theories and Methods of Spatio-Temporal Reasoning in Geographic Space
Orientation calculi and route graphs: towards semantic representations for route descriptions
GIScience'06 Proceedings of the 4th international conference on Geographic Information Science
Identifying objects on the basis of spatial contrast: an empirical study
SC'04 Proceedings of the 4th international conference on Spatial Cognition: reasoning, Action, Interaction
Tiered Models of Spatial Language Interpretation
Proceedings of the international conference on Spatial Cognition VI: Learning, Reasoning, and Talking about Space
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In this paper we motivate the use of qualitative spatial actions as the fundamental unit in processing user route instructions. The spatial action model has been motivated by an analysis of empirical studies in human-robot interaction on the navigation task, and can be interpreted as a conceptual representation of the spatial action to be performed by the agent in their navigation space. Furthermore, we sketch out two distinct models of interpretation for these actions in cognitive robotics. In the first, the actions are related to a formalized conceptual user modeling of navigation space, while in the second the actions are interpreted as fuzzy operations on a voronoi graph. Moreover, we show how this action model allows us to better capture the points at which user route instructions become out of alignment with a robot's knowledge of the environment through a number of examples.