2026-09-18T20:15:35Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/333042022-01-13T07:54:29Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Deb Kumar Roy.
Kehoe, Charles W. (Charles Ward)
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2006-07-13T15:13:54Z
2006-07-13T15:13:54Z
2005
2005
http://hdl.handle.net/1721.1/33304
62279626
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2005.
Includes bibliographical references (p. 26-27).
We have outfitted a mobile research robot with several sensors and algorithms designed to facilitate small- and large-scale navigation and natural language interaction. We begin with a parser using a large, hand-crafted English grammar and lexicon. We then add a standard gradient navigation algorithm for local obstacle avoidance, and a line segment comparison algorithm for basic, high-performance location recognition. The result is a full end-to-end system for natural-language-driven, mobile robotics research. The theme of grounding-mapping linguistic references to the corresponding real-world entities-runs throughout our approach. After the parser simplifies linguistic symbols and structures, we must connect them to the basic concepts that they represent, and then to our system's specific sensor readings and motor commands, to make natural language interaction possible. Additionally, many of the symbols we must ground are indexicals with critical contextual dependencies. We must therefore handle the implicit context that spatial communication carries with it.
by Charles W. Kehoe.
M.Eng.
27 p.
1446546 bytes
1445037 bytes
application/pdf
application/pdf
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
Indexical grounding for a mobile robot
Semantic grounding in a natural language interface
Thesis
application/pdf
Publication
unknown
unknown
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<Abstract>We have outfitted a mobile research robot with several sensors and algorithms designed to facilitate small- and large-scale navigation and natural language interaction. We begin with a parser using a large, hand-crafted English grammar and lexicon. We then add a standard gradient navigation algorithm for local obstacle avoidance, and a line segment comparison algorithm for basic, high-performance location recognition. The result is a full end-to-end system for natural-language-driven, mobile robotics research. The theme of grounding-mapping linguistic references to the corresponding real-world entities-runs throughout our approach. After the parser simplifies linguistic symbols and structures, we must connect them to the basic concepts that they represent, and then to our system's specific sensor readings and motor commands, to make natural language interaction possible. Additionally, many of the symbols we must ground are indexicals with critical contextual dependencies. We must therefore handle the implicit context that spatial communication carries with it.</Abstract>
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