Task Based Dialog For Service Mobile Robot

CoBot is a service mobile robot that has been continuously Frame: GoTo deployed for extended periods of time in a multi-floor - Parameters: destination office-style building (Biswas and Veloso 2013). While moving in the building CoBot, is able to perform multiple tasks Frame: DeliverObject for its users; the robot is able to autonomously navigate to - Parameters: object, source, destination any of the rooms in the building, to deliver objects and messages and to escort visitors to their destination. While apparently Figure 1: Semantic frames of the two task CoBot is able to very different, all the tasks CoBot is able to perform execute from spoken commands. Often, only being able to move, is not enough to accomplish the task required; if CoBot needs to deliver an object, given that it does not have arms, it cannot pick it up by itself, similarly when it needs to travel across floors it cannot push the elevator button. In order to overcome its limitation CoBot ask for help to humans, either the user or bypasser, achieving symbiotic autonomy (Rosenthal, Biswas, and Veloso 2010).