An Ontology-based Multimodal Communication System for Human-Robot Interaction in Socially Assistive Domains

Abstract

Abstract—An agent’s ability to perceive the world and its physical capabilities impact its communicative modalities. Moreover, the sensing and processing (i.e., interpretation) abilities of the user determine the channels and dynamics of communication that should be utilized by the robot to transmit and receive information. In previous work, we proposed an ontology-based communication and coordination system for the formation of impromptu teams of heterogeneous robots. We extend this work to consider the capabilities of both the robot and a human user in the production of multimodal communicative behaviors to facilitate user needs and preferences in an interaction. A I.