论文标题
提供者 - 核能机构：空间语义规划的框架
Providers-Clients-Robots: Framework for spatial-semantic planning for shared understanding in human-robot interaction
论文作者
论文摘要
本文开发了一个名为“提供者 - 核能机构”（PCR）的新型框架，适用于社会辅助机器人，该机器人支持对人类机器人相互作用中共同理解的研究。提供者，客户和机器人分享了环境的可行，直观的表示，以创建最能满足各方综合需求的计划。该计划是通过基于以前构建的多模式导航图的客户端和机器人之间的交互形成的。在与客户互动之前，在提供商和机器人之间进行协同构建可解释的环境表示形式。我们对拟议框架进行了实现，以自主创建室内环境的空间语义表示。此外，我们开发了一个计划者，该计划者受到该机构的提供者和客户的约束，并动态地计划了对每个感兴趣领域的访问。评估表明，PCR框架的拟议实现可以成功制定计划，同时满足指定的时间预算和序列约束，并超越贪婪的基线。
This paper develops a novel framework called Providers-Clients-Robots (PCR), applicable to socially assistive robots that support research on shared understanding in human-robot interactions. Providers, Clients, and Robots share an actionable and intuitive representation of the environment to create plans that best satisfy the combined needs of all parties. The plans are formed via interaction between the Client and the Robot based on a previously built multi-modal navigation graph. The explainable environmental representation in the form of a navigation graph is constructed collaboratively between Providers and Robots prior to interaction with Clients. We develop a realization of the proposed framework to create a spatial-semantic representation of an indoor environment autonomously. Moreover, we develop a planner that takes in constraints from Providers and Clients of the establishment and dynamically plans a sequence of visits to each area of interest. Evaluations show that the proposed realization of the PCR framework can successfully make plans while satisfying the specified time budget and sequence constraints and outperforming the greedy baseline.
