|Road Rules, CS Style! Edmonton Bound - to AAAI!. From left to right: (front) Eric Meisner, Jenine Turner, Tori Sweetser, Jon Schmid, and Ben Atwood. Back: Tom Kollar. Missing from the picture: Dave Feil-Seifer (stuck in an elevator in the dorm!) and Mike Isman.|
Working to create a human interaction agent on a mobile robotic platform, the team divided the task of making an optimal robot into Conversational Speech Interaction, Active Vision, and Autonomous Navigational Control.
Conversational Speech Interaction involves phoneme recognition in a noisy environment, and parsing natural language into a concrete set of percepts. This information allows for an appropriate multi-modal response using a combination of speech, food manipulation, and navigation behaviors. We accomplish this using the Sphinx Speech Recognition System developed by CMU augmented by a digital filter. We employ a directed speech recognition microphone, which is actively pointed towards the speaker, using face tracking and a pan-tilt-zoom camera. To accomplish language understanding, a specially designed grammar-based parsing technique is under development.
|The vision component's purpose is to provide the navigation component with real-time visual percepts including:
We have demonstrated robust and successful implementations for many of the above systems. We have done preliminary work on the features marked "under-development", and expect to include them as part of our final entry.
Autonomous Navigation Control involves creating a robust model for navigating around a crowded room while retaining the ability to return to a base station. We use sonar-based obstacle avoidance for robust navigation. To achieve path planning and execution, we employ a trained waypoint system using wheel counters.
Additional students who participated in earlier work on the team include Aaron Zschau '02, Habib Chaudhury '03, Scott Cragg '04, (Vision Team), Ross Camara '03 (Control Team), and Diana Calarese '03 (Language Team).