Handling complex commands as service robot task requests
Vittorio Perera, Manuela Veloso · 2015
We contribute a novel approach to understand, dia-logue, plan, and execute complex sentences to com-mand a mobile service robot. We define a com-plex command as a natural language sentence con-sisting of sensing-based conditionals, conjunctions, and disjunctions. We introduce a flexible template-based algorithm to extract such structure from the parse tree of the sentence. As the complexity of the command increases, extracting the right struc-ture using the template-based algorithm decreases becomes more problematic. We introduce two dif-ferent dialogue approaches that enable the user to confirm or correct the extracted command struc-ture. We present how the structure used to represent complex commands can be directly used for plan-ning and execution by the service robot. We show results on a corpus of 100 complex commands. 1