Acquiring Route Graphs from Human Instructions
Angela Bauer, Martje Buss · 2008
Abstract. A mobile robot that is given the task to get to a certain unknown location needs to acquire the missing route information in order to achieve the task. It is the goal of this work to use human-robot communication to gain the necessary route information. The robot asks humans for directions and builds a topological route graph from their answers. The robot then follows this route adding metrical coordinates while moving, thus validating the route graph and transforming it into world coordinates. 1