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Clarification dialogues in human-augmented mapping

Geert-Jan Kruijff; Hendrik Zender; Patric Jensfelt; Henrik I. Christensen
In: Proceedings of the 1st Annual Conference on Human-Robot Interaction. ACM/IEEE International Conference on Human-Robot Interaction (HRI-2006), March 2-4, Salt Lake City, UT, USA, ACM, 3/2006.


An approach to dialogue based interaction for resolution of ambiguities encountered as part of Human-Augmented Mapping (HAM) is presented. The paper focuses on issues related to spatial organisation and localisation. The dialogue pattern naturally arises as robots are introduced to novel environments. The paper discusses an approach based on the notion of Questions under Discussion (QUD). The presented approach has been implemented on a mobile platform that has dialogue capabilities and methods for metric SLAM. Experimental results from a pilot study clearly demonstrate that the system can resolve problematic situations.