Natural language command of an autonomous micro-air vehicle
Name
Roy-2010-Natural language command of an autonomous micro-air vehicle.pdf
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2.05 MB
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Checksum (MD5)
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Author(s)
Huang, Albert S.
Tellex, Stefanie A.
Bachrach, Abraham Galton
Kollar, Thomas Fleming
Roy, Nicholas
Roy, Deb K
Date Issued
December 2010
Journal
Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
Institute of Electrical and Electronics Engineers
Citation
Huang, A S et al. “Natural Language Command of an Autonomous Micro-air Vehicle.” 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems. Taipei, 2010. 2663-2669. © 2010 IEEE
Version
Final published version
Abstract
Natural language is a flexible and intuitive modality for conveying directions and commands to a robot but presents a number of computational challenges. Diverse words and phrases must be mapped into structures that the robot can understand, and elements in those structures must be grounded in an uncertain environment. In this paper we present a micro-air vehicle (MAV) capable of following natural language directions through a previously mapped and labeled environment. We extend our previous work in understanding 2D natural language directions to three dimensions, accommodating new verb modifiers such as go up and go down, and commands such as turn around and face the windows. We demonstrate the robot following directions created by a human for another human, and interactively executing commands in the context of surveillance and search and rescue in confined spaces. In an informal study, 71% of the paths computed from directions given by one user terminated within 10 m of the desired destination.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Program in Media Arts and Sciences (Massachusetts Institute of Technology)
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2010.5650910
