Abstract:
In this paper, we address the problem of communicating, interpreting, and executing complex yet abstract instructions to a robot team member. This requires specifying the tasks in an unambiguous manner, translating them into operational procedures, and carrying out those procedures in a persistent yet reactive manner. We report our response to these issues, after which we demonstrate their combined use in controlling a mobile robot in a multi-room office setting on tasks similar to those in search-and-rescue operations. We conclude by discussing related research and suggesting directions for future work.
