Semantic Spatial Representation: a unique representation of an environment based on an ontology for robotic applications

Guillaume Sarthou (1) , Rachid Alami (1) , Aurélie Clodic (2)

1 LAAS-RIS - Équipe Robotique et InteractionS
2 LAAS-IDEA - Service Informatique : Développement, Exploitation et Assistance

It is important, for human-robot interaction, to endow the robot with the knowledge necessary to understand human needs and to be able to respond to them. We present a formalized and unified representation for indoor environments using an ontology devised for a route description task in which a robot must provide explanations to a person. We show that this representation can be used to choose a route to explain to a human as well as to verbalize it using a route perspective. Based on ontology, this representation has a strong possibility of evolution to adapt to many other applications. With it, we get the semantics of the environment elements while keeping a description of the known connectivity of the environment. This representation and the illustration algorithms, to find and verbalize a route, have been tested in two environments of different scales.

Domaines: Robotique [cs.RO]

Guillaume Sarthou, Rachid Alami, Aurélie Clodic. Semantic Spatial Representation: a unique representation of an environment based on an ontology for robotic applications. Combined Workshop on Spatial Language Understanding (SpLU) and Grounded Communication for Robotics (RoboNLP), Jun 2019, Minneapolis, United States. ⟨hal-02177140⟩