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A review of verbal and non-verbal human-robot interactive communication

ROBOTICS AND AUTONOMOUS SYSTEMS 2015年第P1期63卷 22-35页

作者： Mavridis, Nikolaos NCSR Demokritos Interact Robots & Media Lab GR-15310 Athens Greece

In this paper, an overview of human-robot interactive communication is presented, covering verbal as well as non-verbal aspects. Following a historical introduction, and motivation towards fluid human-robot communication, ten desiderata are proposed, which provide an organizational axis both of recent as well as of future research on human-robot communication. Then, the ten desiderata are examined in detail, culminating in a unifying discussion, and a forward-looking conclusion. (C) 2014 The Author. Published by Elsevier B.V.

关键词： Verbal Non-verbal Human-robot interaction Human-robot communication Survey

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VISPEC: A graphical tool for elicitation of MTL requirements

VISPEC: A graphical tool for elicitation of MTL requirements

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IEEE/RSJ International Conference on Intelligent robots and Systems

作者： B. Hoxha N. Mavridis G. Fainekos School of Computing Informatics and Decision Systems Engineering Arizona State University Interactive Robots and Media Lab and NCSR Demokritos

One of the main barriers preventing widespread use of formal methods is the elicitation of formal specifications. Formal specifications facilitate the testing and verification process for safety critical robotic systems. However, handling the intricacies of formal languages is difficult and requires a high level of expertise in formal logics that many system developers do not have. In this work, we present a graphical tool designed for the development and visualization of formal specifications by people that do not have training in formal logic. The tool enables users to develop specifications using a graphical formalism which is then automatically translated to Metric Temporal Logic (MTL). In order to evaluate the effectiveness of our tool, we have also designed and conducted a usability study with cohorts from the academic student community and industry. Our results indicate that both groups were able to define formal requirements with high levels of accuracy. Finally, we present applications of our tool for defining specifications for operation of robotic surgery and autonomous quadcopter safe operation.

关键词： Timing Visualization Usability Safety robots Testing Industries

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VISPEC: A graphical tool for elicitation of MTL requirements

VISPEC: A graphical tool for elicitation of MTL requirements

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IEEE/RSJ International Conference on Intelligent robots and Systems (IROS)

作者： Hoxha, Bardh Mavridis, Nikolaos Fainekos, Georgios Arizona State Univ Sch Comp Informat & Decis Syst Engn Tempe AZ 85287 USA Interact Robots & Media Lab Al Ain U Arab Emirates NCSR Demokritos Madrid Spain

ISBN: (纸本)9781479999941

关键词： Formal specification

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Long-Term Estimation of Human Spatial Interactions Through Multiple Laser Ranging Sensors

Long-Term Estimation of Human Spatial Interactions Through M...

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International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE)

作者： Salarpour, Amir Khotanlou, Hassan Mavridis, Nikolaos Bu Ali Sina Univ Dept Comp Engn Hamadan Iran NCSR Demokritos Interact Robots & Media Lab Athens Greece

ISBN: (纸本)9781479951321

For robots to be able to naturally co-habitate human spaces, as well as to interact with single humans or groups of humans, they should be able to navigate in ways that are human-friendly, and appropriate to human spatial interaction social norms, such as keeping personal spaces. For that purpose, we are developing a special theory which extends path planning, which we call social path plan, which allows humans or groups as obstacles or goals. In order to provide tuning for our simulation results, we are acquiring a natural human interaction dataset, through measurements from multiple laser ranging sensors positioned at a cross-roads indoor space. We thus describe our system consisting of spatial and temporal alignment algorithms for multiple laser sensors, as well as foreground detection, sensor data fusion, segmentation, tracking, two-legged position and pose estimation, and event detection. The method presented can be easily extended to larger spaces and applied for many other application domains beyond our main goal of learning optimal spatial interaction behaviours for human-robot interaction.

关键词： Human-Robot Interaction Spatial Laser Range Finder People Detection People Tracking

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Granting Space and Time to Words: Blind Semantic Spatial Localization for the case of Facial Images

Granting Space and Time to Words: Blind Semantic Spatial Loc...

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International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE)

作者： Mavridis, Nikolaos Bourlai, Thirimachos NCSR Demokritos Interact Robots & Media Lab Athens Greece West Virginia State Univ Dept Comp Sci & Elect Engn Morgantown WV USA

ISBN: (纸本)9781479951321

There exist a multitude of multimedia sources nowadays where audiovisual material is accompanied by labels. In many cases, the semantic content of these labels is not referring to the totality of the material they accompany;but only to a certain subset of it. Consider, for example, labels that refer to objects that are part of an image;or, alternatively, labels that refer to an event that is part of a video. Knowledge of the subset of the material to which the labels refer to can be very useful;for example, it can inform us regarding the detectability of the entity under the presence of selective occlusions or noise;or, it can be used to help segment out the referent from the material itself and, among many other uses, to optimize the recognition of the entities that the words refer to. Towards these goals, in this paper we will present a method which allows such semantic spatiotemporal localization: given multiple instances of the material, and accompanying labels, we will produce subsets of the material which are most informative regarding the label;and which can be thought of as the spatiotemporally localized grounding of the concept represented by the words. The method is illustrated for the specific case of spatially localizing labels describing human faces or parts and artifacts of them;such as "beard", "glasses", "male", "old". No prior information about the spatial locus of the referents of these words is given;the algorithm blindly identifies the regions that are most informative for each label, and can be readily applied to robot vision.

关键词： face semantics localization spatial

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Long-term estimation of human spatial interactions through multiple laser ranging sensors

Long-term estimation of human spatial interactions through m...

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International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE)

作者： Amir Salarpour Hassan Khotanlou Nikolaos Mavridis Department of Computer Engineering Bu-Ali Sina University Hamedan Iran Interactive Robots and Media Lab NCSR Demokritos Athens Greece

关键词： Measurement by laser beam Laser modes Trajectory Iterative closest point algorithm Legged locomotion

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Granting space and time to words: Blind semantic spatial localization for the case of facial images

Granting space and time to words: Blind semantic spatial loc...

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International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE)

作者： Nikolaos Mavridis Thirimachos Bourlai NCSR Demokritos Interactive Robots and Media Lab Athens Greece Department of Computer Science and Electrical Engineering West Virginia State University Morgantown USA

There exist a multitude of multimedia sources nowadays where audiovisual material is accompanied by labels. In many cases, the semantic content of these labels is not referring to the totality of the material they accompany; but only to a certain subset of it. Consider, for example, labels that refer to objects that are part of an image; or, alternatively, labels that refer to an event that is part of a video. Knowledge of the subset of the material to which the labels refer to can be very useful; for example, it can inform us regarding the detectability of the entity under the presence of selective occlusions or noise; or, it can be used to help segment out the referent from the material itself - and, among many other uses, to optimize the recognition of the entities that the words refer to. Towards these goals, in this paper we will present a method which allows such semantic spatiotemporal localization: given multiple instances of the material, and accompanying labels, we will produce subsets of the material which are most informative regarding the label; and which can be thought of as the spatiotemporally localized grounding of the concept represented by the words. The method is illustrated for the specific case of spatially localizing labels describing human faces or parts and artifacts of them; such as “beard”, “glasses”, “male”, “old”. No prior information about the spatial locus of the referents of these words is given; the algorithm blindly identifies the regions that are most informative for each label, and can be readily applied to robot vision.

关键词： Materials Semantics Spatiotemporal phenomena Training Grounding Robot sensing systems

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