Clarification dialogues in human-augmented mapping

Authors:
Geert-Jan M. Kruijff;Hendrik Zender;Patric Jensfelt;Henrik I. Christensen
Affiliations:
DFKI GmbH, Saarbrücken, Germany;DFKI GmbH, Saarbrücken, Germany;Royal Institute of Technology, Stockholm, Sweden;Royal Institute of Technology, Stockholm, Sweden
Venue:
Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction
Year:
2006

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Abstract

An approach to dialogue based interaction for resolution of ambiguities encountered as part of Human-Augmented Mapping (HAM) is presented. The paper focuses on issues related to spatial organisation and localisation. The dialogue pattern naturally arises as robots are introduced to novel environments. The paper discusses an approach based on the notion of Questions under Discussion (QUD). The presented approach has been implemented on a mobile platform that has dialogue capabilities and methods for metric SLAM. Experimental results from a pilot study clearly demonstrate that the system can resolve problematic situations.