Modelling Route Instructions for Robust Human-Robot Interaction on Navigation Tasks

Abstract In this paper, we demonstrate the use of qualitative spatial modelling as thefoundation for the conceptual representation of route instructions, to enable robust human-robot interaction on navigation tasks. Our conceptual model is motivated by empiricalstudies on route navigation, and combines Qualitative Orientation Calculi for spatial rea-soning using directional orientation information and topological maps for structuring routesegments and routes. Moreover, we present a formal de nition of the conceptual model usingthe algebraic speci cation language CASL for syntactic and semantic checking, consistencycheckingand veri cation. Finally, we introduce a generic route graph concept and its formal-ization. The instantiation of the generic route graph at di erent abstraction levels provides aformal foundation for linking the conceptual model to a global environment map used by anintelligent robot, e.g., a semi-autonomous wheelchair, to carry out human navigation tasks.Key words: qualitative spatial calculi; route graph; navigation space; human-robot inter-action; conceptual model; algebraic speci cation

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