A SPATIAL ONTOLOGY FOR HUMAN-ROBOT INTERACTION

Lamia Belouaer, Maroua Bouzid, Abdel-Illah Mouaddib

2010

Abstract

Robotics quickly evolved in the recent years. This development widened the intervention fields of robots. Robots interact with humans in order to serve them. Improving the quality of this interaction requires to endow robots with spatial representation and/or reasoning system. Many works have been dedicated to this purpose. Most of them take into account metric, symbolic spatial relationships. However, they do not consider fuzzy relations given by linguistic variables in humans language in human-robot interaction. These relations are not understood by robots. Our objective is to combine human representation (symbolic, fuzzy) of space with the robot’s one to develop a mixed reasoning. More precisely, we propose an ontology to manage both spatial relations (topological, metric), fuzziness in spatial representation. This ontology allows a hierarchical organization of space which is naturally manageable by humans and easily understandable by robots. Our ontology will be incorporated into a planner by extending the planning language PDDL.

References

  1. Allen, J. (1983). Maintaining knowledge about temporal intervals.
  2. Baader, F., Calvanese, D., McGuinness, D., PatelSchneider, P., and Nardi, D. (2003). The description logic handbook: theory, implementation, and applications. Cambridge Univ Pr.
  3. Balbiani, P., Condotta, J.-F., and del Cerro, L. F. (1999). A new tractable subclass of the rectangle algebra. In IJCAI, pages 442-447.
  4. Bloch, I. (2005). Fuzzy spatial relationships for image processing and interpretation: a review. Image and Vision Computing, 23:89-110.
  5. Bloch, I. and Ralescu, A. (2003). Directional relative position between objects in image processing: a comparison between fuzzy approaches. Pattern Recognition.
  6. Casati, R., Smith, B., and Varzi, A. (1998). Ontological tools for geographic representation. (FOIS'98).
  7. Dasiopoulou, S., Mezaris, V., Kompatsiaris, I., Papastathis, V., and Strintzis, M. (2005). Knowledge-assisted semantic video object detection. IEEE Transactions on Circuits and Systems for Video Technology.
  8. Dominey, P., Boucher, J., and Inui, T. (2004). Building an adaptive spoken language interface for perceptually grounded human-robot interaction. In Proceedings of the IEEE-RAS/RSJ international conference on humanoid robots.
  9. Fernández-Madrigal, J., Galindo, C., and González, J. (2004). Assistive navigation of a robotic wheelchair using a multihierarchical model of the environment. Integrated Computer-Aided Engineering.
  10. Gruber, T. et al. (1995). Toward principles for the design of ontologies used for knowledge sharing. International Journal of Human Computer Studies.
  11. Hudelot, C. (2005). Towards a cognitive vision platform for semantic image interpretation; application to the recognition of biological organisms.
  12. Hudelot, C., Atif, J., and Bloch, I. (2008). Fuzzy spatial relation ontology for image interpretation. Fuzzy Sets and Systems.
  13. Kuipers, B. (2000). The spatial semantic hierarchy. Artificial Intelligence, 119:191-233.
  14. Kuipers, B. and Levitt, T. (1988). Navigation and mapping in large scale space. AI magazine, 9:25.
  15. Laborie, S., Euzenat, J., and Layaida, N. (2006). A spatial algebra for multimedia document adaptation. SMAT.
  16. McGuinness, D., Van Harmelen, F., et al. (2004). OWL web ontology language overview. W3C recommendation.
  17. Schockaert, S. (2008). Reasoning about fuzzy temporal and spatial information from the web. PhD thesis, Ghent University, 2008.
Download


Paper Citation


in Harvard Style

Belouaer L., Bouzid M. and Mouaddib A. (2010). A SPATIAL ONTOLOGY FOR HUMAN-ROBOT INTERACTION . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8425-00-3, pages 154-159. DOI: 10.5220/0002948001540159


in Bibtex Style

@conference{icinco10,
author={Lamia Belouaer and Maroua Bouzid and Abdel-Illah Mouaddib},
title={A SPATIAL ONTOLOGY FOR HUMAN-ROBOT INTERACTION},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2010},
pages={154-159},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002948001540159},
isbn={978-989-8425-00-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A SPATIAL ONTOLOGY FOR HUMAN-ROBOT INTERACTION
SN - 978-989-8425-00-3
AU - Belouaer L.
AU - Bouzid M.
AU - Mouaddib A.
PY - 2010
SP - 154
EP - 159
DO - 10.5220/0002948001540159