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arXiv · 2007.09053

Situated Multimodal Control of a Mobile Robot: Navigation through a Virtual Environment

Katherine Krajovic·Nikhil Krishnaswamy·Nathaniel J. Dimick·R. Pito Salas·James Pustejovsky
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Abstract

We present a new interface for controlling a navigation robot in novel environments using coordinated gesture and language. We use a TurtleBot3 robot with a LIDAR and a camera, an embodied simulation of what the robot has encountered while exploring, and a cross-platform bridge facilitating generic communication. A human partner can deliver instructions to the robot using spoken English and gestures relative to the simulated environment, to guide the robot through navigation tasks.

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Katherine Krajovic, Nikhil Krishnaswamy, Nathaniel J. Dimick, R. Pito Salas, James Pustejovsky. 2020-07-13. Situated Multimodal Control of a Mobile Robot: Navigation through a Virtual Environment. https://arxiv.org/abs/2007.09053

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