Semantic reasoning in service robots using expert systems
Por:
Savage, Jesus, Rosenblueth, David A., Matamoros, Mauricio, Negrete, Marco, Contreras, Luis, Cruz, Julio, Martell, Reynaldo, Estrada, Hugo, Okada, Hiroyuki
Publicada:
1 ene 2019
Resumen:
This paper presents the semantic-reasoning module of VIRBOT, our proposed architecture for service robots. We show that by combining symbolic AI with digital-signal processing techniques this module achieves competitive performance. Our system translates a voice command into an unambiguous representation that helps an inference engine, built around an expert system, to perform action and motion planning. First, in the natural-language interpretation process, the system generates two outputs: (1) conceptual dependence, expressing the linguistic meaning of the statement, and (2) verbal confirmation, a paraphrase in natural language that is repeated to the user to confirm that the command has been correctly understood. Then, a conceptual-dependency interpreter extracts semantic role structures from the input sentence and looks for such structures in a set of known interpretation patterns. We evaluate this approach in a series of skill-specific semantic-reasoning experiments. Finally, we demonstrate our system in the general-purpose service robot test of the RoboCup-at-Home international competition, where incomplete information is given to a robot and the robot must recognize and request the missing information, and we compare our results with a series of baselines from the competition where our proposal performed best. © 2019 Elsevier B.V.
Filiaciones:
Savage, Jesus:
Bio-Robotics Laboratory, Universidad Nacional Autónoma de México, Mexico
Univ Nacl Autonoma Mexico, Biorobot Lab, Mexico City, DF, Mexico
Rosenblueth, David A.:
Instituto de Investigaciones en Matemáticas Aplicadas y en Sistemas, Universidad Nacional Autónoma de México, Mexico
Univ Nacl Autonoma Mexico, Inst Invest Matemat Aplicadas & Sistemas, Mexico City, DF, Mexico
Matamoros, Mauricio:
Department of Computervisualistik, Universität Koblenz–Landau, Germany
Univ Koblenz Landau, Dept Comp Visualist, Mainz, Germany
Negrete, Marco:
Bio-Robotics Laboratory, Universidad Nacional Autónoma de México, Mexico
Univ Nacl Autonoma Mexico, Biorobot Lab, Mexico City, DF, Mexico
Contreras, Luis:
Advance Intelligence and Robotics Research Center, Tamagawa University, Japan
Tamagawa Univ, Adv Intelligence & Robot Res Ctr, Tokyo, Japan
Cruz, Julio:
Bio-Robotics Laboratory, Universidad Nacional Autónoma de México, Mexico
Univ Nacl Autonoma Mexico, Biorobot Lab, Mexico City, DF, Mexico
Martell, Reynaldo:
Bio-Robotics Laboratory, Universidad Nacional Autónoma de México, Mexico
Univ Nacl Autonoma Mexico, Biorobot Lab, Mexico City, DF, Mexico
Estrada, Hugo:
Bio-Robotics Laboratory, Universidad Nacional Autónoma de México, Mexico
Univ Nacl Autonoma Mexico, Biorobot Lab, Mexico City, DF, Mexico
Okada, Hiroyuki:
Advance Intelligence and Robotics Research Center, Tamagawa University, Japan
Tamagawa Univ, Adv Intelligence & Robot Res Ctr, Tokyo, Japan
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