ROJul 13, 2020
Situated Multimodal Control of a Mobile Robot: Navigation through a Virtual EnvironmentKatherine Krajovic, Nikhil Krishnaswamy, Nathaniel J. Dimick et al.
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.