Abstract—The goal of this work is to illustrate and evaluate a novel method for communicating with a mobile robot, namely, by drawing a sketch. The user draws a sketched route map to direct a mobile robot along a specified path. In this paper we focus on the navigation of the sketched path in the real environment. Challenges include sketch inaccuracies such as distortion or abstraction and low sensory resolution of the robot. Our method is based on utilizing spatial relations to extract a sequence of qualitative landmark states from the sketched map, which in turn the robot follows in a real environment to replicate the sketched route. Several examples are included. Keywords- sketch-based navigation, human-robot interaction, spatial relations, histogram of forces I.

Abstract—In this paper, we introduce our work on sketch understanding, focusing here on the analysis of a sketched route map. A route map is drawn to help someone navigate along a path for the purpose of reaching a goal. A hand-sketched route map does not generally contain complete map information and is not necessarily drawn to scale, but yet it contains the correct qualitative information for route navigation. Here we propose a methodology for extracting a qualitative model of a sketched route map, based on human navigation strategies, using spatial relationships. Linguistic descriptions are generated from the sketch, both in the form of detailed descriptions at discrete path steps and also as a high-level route description. To describe the path linguistically, one must first be able to understand the path in a qualitative sense. We assert that the translation of a sketch into linguistic descriptions illustrates that the essential qualitative path knowledge has been extracted. The methodology is demonstrated using example sketches drawn on a handheld PDA.

Schematic maps are effective tools for representing information about the physical environment; they depict specific information in an abstract way. This study concentrates on spatial aspects of the physical environment such as branching points and connecting roads, which play a paramount role in the schematization of wayfinding maps. Representative classes of branchingpoints are identified and organized in a taxonomy. The use of prototypical branching points and connecting road types is empirically evaluated in the schematization of maps. The role played by the different functions according to which the map is classified is assessed, and main strategies applied during the schematization process are identified. Implications for navigational tasks are presented.

We present an approach to mobile robot guidance. The proposed architecture grants an abstract interface to robot navigation allowing to bridge from perception to high level control. The approach is based upon a comprehensive map representing metric, configurational, and topological knowledge. Robot instruction and localization is dealt with by communicating and reasoning about cyclic ordering information of shape-features.

Abstract – In this paper, we describe a prototype interface that facilitates the control of a mobile robot team by a single operator, using a sketch interface on a tablet PC. The user sketches a qualitative map of the scene and includes the robots in approximate starting positions. Both path and target position commands are supported as well as editing capabilities. Sensor feedback from the robots is included in the display such that the sketch interface acts as a two-way communication device between the user and the robots. The paper also includes results of a usability study, in which users were asked to perform a series of tasks. Index Terms – human-robot interaction, sketch-based navigation, qualitative map. I.

We describe a new method for controlling a group of robots in three-dimensional (3D) space using a tangible user interface called the 3D Tractus. Our interface maps the task space into an interactive 3D space, allowing a single user to intuitively monitor and control a group of robots. We present the use of the interface in controlling a group of virtual software bots and a physical Sony AIBO robot dog in a simulated Explosive Ordnance Disposal (EOD) environment involving a bomb hidden inside of a building. We also describe a comparative user study we performed where participants were asked to use both the 3D physical interface and a traditional 2D graphical user interface in order to try and demonstrate the benefits and drawbacks of each approach for HRI tasks. Categories and Subject Descriptors H.5.2 [Information interfaces and presentation]: user interfaces—interaction styles, graphical user interfaces (GUI), theory and methods

Abstract. This paper explores the possibility of organizing map design around conceptual spatial representations (CSRs). CSR refers to a mental representation that is instantiated in interaction with a spatial environment, a spatial representational medium, and/or while solving spatial problems. For this approach we coin the term cognitive conceptual. We detail the basic assumptions in a contrastive manner, i.e., by juxtaposing it against a stylized cartographic approach, and indicate future directions for this research.

Extracting useful information from the environment has an important effect over the autonomous robot navigation process. In this paper, we describe a hybrid representation model for robot navigation in indoor environments, which uses local reference systems as basic elements. We present a model, which integrates quantitative and qualitative information, relating in a natural way the different working scales of an autonomous robot navigation system. An algorithm for the extraction of local reference systems from the environment is showed. Integration of quantitative and qualitative information, obtaining a hybrid description of the world, is explained. We also describe an algorithm to extract a topological map as a natural extension from the hybrid description. Finally, we will show how a cognitive map can emerge from the hybrid description and the topological map.

Abstract In this paper, we describe a prototype interface that facilitates the control of a mobile robot team by a single operator, using a sketch interface on a Tablet PC. The user draws a sketch map of the scene and includes the robots in approximate starting positions. Both path and target position commands are supported as well as editing capabilities. Sensor feedback from the robots is included in the display such that the sketch interface acts as a two-way communication device between the user and the robots. The paper also includes results of a usability study, in which users were asked to perform a series of tasks. Keywords Human-robot interaction. Sketch-based navigation. Qualitative map 1

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