Conference Paper

From structured english to robot motion.

Univ. of Pennsylvania, Philadelphia
DOI: 10.1109/IROS.2007.4398998 Conference: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 29 - November 2, 2007, Sheraton Hotel and Marina, San Diego, California, USA
Source: DBLP

ABSTRACT Recently, Linear Temporal Logic (LTL) has been successfully applied to high-level task and motion planning problems for mobile robots. One of the main attributes of LTL is its close relationship with fragments of natural language. In this paper, we take the first steps toward building a natural language interface for LTL planning methods with mobile robots as the application domain. For this purpose, we built a structured English language which maps directly to a fragment of LTL.

  • Source
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: In this paper we present an approach to support the content generation for Augmented Reality (AR)-based technical manuals by modeling and interpreting technical instructions in a semantical way. We propose the separation of the meaning of a technical instruction from its actual representation and accomplish this by designing a semantic instruction model on the base of a controlled natural language. The controlled language serves here as a high-level specification model for technical activities. Its controlled lexicon and grammar eliminate the ambiguity of meaning and reduce the complexity of language constructs known from full natural languages. This enables automated processing of the instructions. Complemented with references to the geometry of assemblies, parts, tools and other geometric features, the resulting formalized instructions can be easily transformed to both textual and graphical representations. In the demonstration of our results we will focus on the generation of scenes for AR-based maintenance support.
  • [Show abstract] [Hide abstract]
    ABSTRACT: Due to the nice balance between the expressive power and the computational cost of associated algorithms, propositional temporal logic (PTL) has recently been used with great success as a specification language for robot motion planning, which is the problem of finding a collision-free route from an initial to a final configuration in a given environment. Elaborated specifications involving temporal ordering such as sequencing or coverage can be succinctly expressed by PTL formulae. The generation of plans satisfying PTL formulae are then reduced to the model checking problem, which concerns the satisfaction of PTL formulae with respect to a given model (in this case the environment). However, in case there is not a plan satisfying the given specification in the current environment, one may also be interested in finding a plan satisfying such specification in some other environment. In the present work, this problem is studied in the context of PTL specifications enriched with past operators. These constructs are used to express backward navigation in the environment. Other interesting reasoning problems such as the equivalence or subsumption of specifications are also studied.
    2014 International Conference on Electronics, Communications and Computers (CONIELECOMP); 02/2014

Full-text (2 Sources)

Available from
May 26, 2014