1. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Wheelchair Rolland as mobile robotic platform. Need for appropriate HRI is essential, especially for a wheelchair-bound person. Application scenario in an office-like environment allows user to command his vehicle by natural language input. Conclusion 1

2. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Route Graph Local path planner Formalized Coarse Route Descriptions MMC global localizer Conclusion Natural Language Coarse Route Descriptions localizes within mapped onto translated to target sequence navigates within 2

3. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Preprocessed bitmap from CAD-blueprint. Voronoi-Graph based RouteGraph-layer represents navigable space. Semantic RouteGraph-layer stores nodes for rooms and regions, as well as for annotated landmarks. Conclusion 3

4. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Conclusion Geometric path planner models obstacle-free paths by means of cubic Bezier curves. Benefits versus DWA and behavioural approaches: - explicit modelling of necessary haul-off movements - small search space due to 2 free parameters - consideration of heading in goal-pose 4

5. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. Introductory example: Conclusion 5

6. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Introductory example: Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. Conclusion 5

7. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Introductory example: Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. Conclusion 5

8. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Introductory example: Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. 5 Conclusion

9. ::={ } ::=(,, ) ::={ ( [Preposition] ) | } ::={ [Preposition] } ::= | „Stop“ ::= „Through“, „OutOf“, „Along“, „NaturalLanguageDirection“, „After“, „Past“, „Between“, „Towards“,... ::=(,, ) ::=(, | ) ::=„NaturalLanguageDirection“ Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Conclusion Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. 6

10. Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Conclusion ::={ } ::=(,, ) ::={ ( [Preposition] ) | } ::={ [Preposition] } ::= | „Stop“ ::= „Through“, „OutOf“, „Along“, „NaturalLanguageDirection“, „After“, „Past“, „Between“, „Towards“,... ::=(,, ) ::=(, | ) ::=„NaturalLanguageDirection“ 6

11. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Conclusion Motivation Outline ::={ } ::=(,, ) ::={ ( [Preposition] ) | } ::={ [Preposition] } ::= | „Stop“ ::= „Through“, „OutOf“, „Along“, „NaturalLanguageDirection“, „After“, „Past“, „Between“, „Towards“,... ::=(,, ) ::=(, | ) ::=„NaturalLanguageDirection“ Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. 6

12. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Conclusion Motivation Outline Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. ::={ } ::=(,, ) ::={ ( [Preposition] ) | } ::={ [Preposition] } ::= | „Stop“ ::= „Through“, „OutOf“, „Along“, „NaturalLanguageDirection“, „After“, „Past“, „Between“, „Towards“,... ::=(,, ) ::=(, | ) ::=„NaturalLanguageDirection“ 6

13. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs ::={ } ::=(,, ) ::={ ( [Preposition] ) | } ::={ [Preposition] } ::= | „Stop“ ::= „Through“, „OutOf“, „Along“, „NaturalLanguageDirection“, „After“, „Past“, „Between“, „Towards“,... ::=(,, ) ::=(, | ) ::=„NaturalLanguageDirection“ Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Conclusion Motivation Outline Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. 6

14. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Conclusion Motivation Outline ::={ } ::=(,, ) ::={ ( [Preposition] ) | } ::={ [Preposition] } ::= | „Stop“ ::= „Through“, „OutOf“, „Along“, „NaturalLanguageDirection“, „After“, „Past“, „Between“, „Towards“,... ::=(,, ) ::=(, | ) ::=„NaturalLanguageDirection“ Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. 6

15. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs ::={ } ::=(,, ) ::={ ( [Preposition] ) | } ::={ [Preposition] } ::= | „Stop“ ::= „Through“, „OutOf“, „Along“, „NaturalLanguageDirection“, „After“, „Past“, „Between“, „Towards“,... ::=(,, ) ::=(, | ) ::=„NaturalLanguageDirection“ Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Conclusion Motivation Outline Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. 6

16. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Conclusion Motivation Outline ::={ } ::=(,, ) ::={ ( [Preposition] ) | } ::={ [Preposition] } ::= | „Stop“ ::= „Through“, „OutOf“, „Along“, „NaturalLanguageDirection“, „After“, „Past“, „Between“, „Towards“,... ::=(,, ) ::=(, | ) ::=„NaturalLanguageDirection“ Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. 6

17. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Conclusion Common spatial relations: example 1 Along 2-valued 7

18. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Conclusion Common spatial relations: example 3 Front-Left 2-valued 8

19. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Conclusion Common spatial relations: further directions … 9

20. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. Conclusion 10

21. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. Conclusion 10

22. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. Conclusion 10

23. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. Conclusion 10

24. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. Conclusion 10

25. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. Conclusion 10

26. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Turn around, drive through the interaction lab, turn left, go to the kitchen and stop at the first junction to the right. Conclusion Ø 10

27. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Conclusion 11 For an illustrative video of experimental results visit: http://www.informatik.uni-bremen.de/rolland/videos/ Interpretation_of_Coarse_Route_Description_08_06_06.mpg

28. Robot Navigation based on the Mapping of Coarse Qualitative Route Descriptions to Route Graphs Motivation Outline Global World Knowledge Local Path Planning Coarse Route Descriptions Formalization Interpretation Mapping to Route Graphs Experimental Results Conclusion Interpretation of coarse route descriptions facilitated by their mapping onto multi-layered Route Graphs. Key-concept is the fuzzy interpretation of common spatial relations. To do: Extension of the set of supported spatial relations. Benchmarking of the system against available corpora. 12