Elin Anna Topp

Investigating Spatial Relationships in Human-Robot Interaction

Co-presence and embodied interaction are two fundamental characteristics of the command and control situation for service robots. This paper presents a study of spatial distances and orientation of a robot with respect to a human user in an experimental setting. Relevant concepts of spatiality from social interaction studies are introduced and related to human-robot interaction (HRI). A Wizard-of-Oz study quantifies the observed spatial distances and spatial formations encountered. However, it is claimed that a simplistic parameterization and measurement of spatial interaction misses the dynamic character and might be counter-productive in the design of socially appropriate robots

Tracking for following and passing persons

This paper presents a multiple target tracking approach for following and passing persons in the context of human-robot interaction. The general purpose for the approach is the use in human augmented mapping. This concept is presented and it is described how navigation and person following are subsumed under it. Results from experiments under test conditions and from data collected during a user study are also provided.

Topological Modelling for Human Augmented Mapping

Service robots designed for domestic settings need to navigate in an environment that they have to share with their users. Thus, they have to be able to report their current state and whereabouts in a way that is comprehensible for the user. Pure metric maps do not usually correspond to the understanding of the environment a user would provide. Thus, the robotic map needs to be integrated with the human representation. This paper describes our framework of human augmented mapping that allows us to achieve this integration. We propose further a method to specify and represent regions that relate to a users view on the environment. We assume an interactive setup for the specification of regions and show the applicability of our method in terms of distinctiveness for space segmentation and in terms of localisation purposes

Mixed-initiative in human augmented mapping

In scenarios that require a close collaboration and knowledge transfer between inexperienced users and robots, the “learning by interacting” paradigm goes hand in hand with appropriate representations and learning methods. In this paper we discuss a mixed initiative strategy for robotic learning by interacting with a user in a joint map acquisition process. We propose the integration of an environment representation approach into our interactive learning framework. The environment representation and mapping system supports both user driven and data driven strategies for the acquisition of spatial information, so that a mixed initiative strategy for the learning process is realised. We evaluate our system with test runs according to the scenario of a guided tour, extending the area of operation from structured laboratory environment to less predictable domestic settings.

From Sensors to Human Spatial Concepts: An Annotated Data Set

An annotated data set is presented meant to help researchers in developing, evaluating, and comparing various approaches in robotics for building space representations appropriate for communicating with humans. The data consist of omnidirectional images, laser range scans, sonar readings, and robot odometry. A set of base-level human spatial concepts is used to annotate the data.

Detecting Region Transitions for Human-Augmented Mapping

In this paper, we describe a concise method for the feature-based representation of regions in an indoor environment and show how it can also be applied for door-passage-independent detection of transitions between regions to improve communication with a human user.

An interactive interface for service robots

In this paper, we present an initial design of an interactive interface for a service robot based on multisensor fusion. We show how the integration of speech, vision and laser range data can be performed using a high level of abstraction. Guided by a number of scenarios commonly used in a service robot framework, the experimental evaluation will show the benefit of sensory integration which allows the design of a robust and natural interaction system using a set of simple perceptual algorithms.

Detecting structural ambiguities and transitions during a guided tour

Service robots designed for domestic settings need to navigate in an environment that they have to share with their users. Thus, they have to be able to report their current state and whereabouts in a way that is comprehensible for the user. Pure metric maps do not usually correspond to the understanding of the environment a user would provide. Thus, the robotic map needs to be integrated with the human representation. With our framework for Human Augmented Mapping we aim to deal with this issue and assume a guided tour as basis for an initial mapping process. During such a tour the robotic system needs to be able to detect significant changes in its environment representation - structural ambiguities - to be able to invoke a clarification discourse with the user. In this paper we present our approach to the detection of such ambiguities, that is independent from prior specification and training of particular spatial categories. We evaluate our method on data sets obtained during several runs in indoor environments in the context of a guided tour scenario.

Acquiring a shared environment representation

Interacting with a domestic service robot implies the existence for a joint environment model for a user and a robot. We present a pilot study that investigates, how humans present a familiar environment to a mobile robot. Results from this study are used to evaluate a generic environment model for a service robot that can be personalised by interaction.

Understanding spatial concepts from user actions

The findings from a user study regarding particular observable “interaction patterns” in the interaction during a “guided tour” are summarized in this paper.