Use Reference

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The following table is a quick guide to interaction functions of the robots. Each function links to more details.

Function Typical Use
Meta-Conversational Start Session: starts a session press start session button
Stop Session: stop a session press stop session button
Address: addressing robots clyde go home
Report: currently addressed robots report everyone report
Cancel: cancel a pending command cancel
Status Location Query: query the robot's location where are you
Robot Direction Move to Goal: translate to a goal location go home
Relative Move: robot-relative move go forward one meter
Turn: robot-relative turn-in-place turn left
Halt: emergency stop of all robots all stop
Pause: temporary pause pause
Continue: continue from a temporary pause continue
Team Direction Explore: explore along a set of waypoints select explore mode. right-click waypoints. left-click or double-click last waypoint.
Search: search for treasure along a set of waypoints select search mode. right-click waypoints. left-click or double-click last waypoint.
Follow: one robot follow another clyde follow baker
Map Related Reposition: reposition a robot on the map select a robot. select reposition mode. click on the new robot position.
Zoom In: zoom in on the map select zoom in mode. click on the map where you want the new zommed center to be
Zoom Out: zoom out on the map press the zoom out button.

Meta-Conversational

Start Session

Starting a session indicates that you want to be interpreted (by whatever modality) by the robots. It is useful to be explicit about starting and stopping sessions because the speech interface in particular is subject to misinterpretations of language not intended for it.

This should be, but is not currently supported via speech, Tkharris 11:32, 12 June 2007 (EDT).

Grammar Net [N/A]
Typical Spoken Use N/A
GUI Use Press the Start Session button
Typical Spoken Response clyde here
GUI Response Start Session toggles to Stop Session

Stop Session

Stopping a session indicates that you do not want to be interpreted (by whatever modality) by the robots.

This should be, but is not currently supported via speech, Tkharris 11:32, 12 June 2007 (EDT).

Grammar Net [N/A]
Typical Spoken Use N/A
GUI Use Press the Stop Session button
Typical Spoken Response N/A
GUI Response Stop Session toggles to Start Session

Address

You may address the robots by name, or use everyone to refer to all robots. Robot addressing can be used on it's own or in conjunction with other commands, e.g. everyone go home.

The robot addressing mechanism works in the following way:

  • Initially all robots are in the conversation with you.
  • When a particular robot is addressed by name, it is in the conversation and the other robots ignore you until they are addressed by name.
  • If a robot initiates a conversation with you, it is as if it were addressed by you. The other robots ignore you until they are addressed by name.
Grammar Net [RobotName]
Typical Spoken Use clyde
GUI Use Select mode: single-click on robot
Typical Spoken Response clyde here
GUI Response selected robot turns yellow

Report

You may want to know which robots currently think that you are talking to them, or you may want to know if a robot can hear and understand you. The GUI interaction is not applicable, since there is a persistent display of this information.

Grammar Net [HumanReportCommand]
Typical Spoken Use report
GUI Use N/A
Typical Spoken Response clyde here
GUI Response selected robots are yellow

Cancel

You may need to cancel a command that is partially complete. The command may be partially complete or currently in execution. Some examples:

  • You ask the robot to go forward, but it heard follow. It asks you whom it should follow. cancel is an appropriate answer to that question that will make the robot ignore the previous order.
  • You ask a robot to move forward two meters. It thinks you said to move forward ten meters, and begins to do so. cancel will halt the robot.
  • You are placing waypoints on the GUI for the robot, and you misplaced a point. cancel will clear the waypoints.
Grammar Net [Cancel]
Typical Spoken Use cancel
GUI Use press the Cancel button
Typical Spoken Response canceling
GUI Response none

Status

Location Query

You may want to find out where the robot thinks it is. Like the report command, the GUI interaction is not applicable since the robot location is persistently displayed.

The GUI has a facility for displaying a circle around the robot that indicates a radius of uncertainty. This uncertainty is not part of boeingLib at present. It is an estimate that is made by TeamTalk given the type of robot odometry and the current cumulative motion. When the uncertainty in robot position becomes too great to be useful, the robot name label that accompanies the robot becomes italicized, and the robot ceases to move on the display (giving a last know good position). In spoken terms the robot will respond with "I don't know" when the uncertainty has grown too large.

Currently there is no system of landmarks, so the spoken output consists simply of the distance from the home location. This is relatively useless, but we plan to add landmarks to the system in the near future. Tkharris 17:07, 7 June 2007 (EDT)

Grammar Net [HumanLocationQuery]
Typical Spoken Use where are you
GUI Use N/A
Typical Spoken Response i am 9.8 meters from home
GUI Response robots are displayed on the map at the location of their estimate

Robot Direction

Move to Goal

You can move a robot to a particular location.

Since there a no defined locations except for the home location. The only location that you can move the robot to via speech is home.

Since go to a particular location is a degenerate form of the explore-along-waypoints. It is not implemented as a separate GUI function.

Grammar Net [MoveToGoal]
Typical Spoken Use go home
GUI Use Explore mode: right-click or double-click on the goal location
Typical Spoken Response going to home
GUI Response an arrow is drawn from the robot to the goal location

Relative Move

You can move a robot relative to its current location and orientation.

The GUI only facilitates moves to absolute locations on the map. Any relative move can be accomplished with a corresponding absolute move, so this is not a deficiency of the GUI interface; rather, it is the deficiency of speech as a communications modality that locations in space need to referenced relative to already indexed locations.

Grammar Net [MoveRelative]
Typical Spoken Use go forward three meters
GUI Use N/A
Typical Spoken Response going forward three meters
GUI Response an arrow is drawn from the robot to the goal location

Turn

You can have a robot turn in place.

This function is not supported by the GUI. Primarily, these turns support the relative move, which is not needed by the GUI in any case. When maneuvering with speech in an area lacking in indexed landmarks it is common for a move to take several speech turns using the Relative Move and Turn commands, as the bearing and distance are iteratively approximated. This is not an issue with the GUI controls.

Grammar Net [HumanTurnCommand]
Typical Spoken Use turn right sixty degrees
GUI Use N/A
Typical Spoken Response turning right sixty degrees
GUI Response N/A

Halt

This command is something like a panic or e-stop. It is designed to be easily said and easily recognizable. All robots stop regardless of their conversational or other date.

This should be, but is not currently supported by the GUI, Tkharris 11:32, 12 June 2007 (EDT).

Grammar Net [HumanHaltCommand]
Typical Spoken Use all stop
GUI Use N/A
Typical Spoken Response stopping
GUI Response N/A

Pause

This command causes the addressed robot to pause it's current action.

This should be, but is not currently supported by the GUI, Tkharris 11:32, 12 June 2007 (EDT).

{ttfunction|HumanPauseCommand|pause|N/A|pausing|N/A}}

Continue

This command causes the addressed robot to continue a paused action.

Grammar Net [HumanContinueCommand]
Typical Spoken Use continue
GUI Use N/A
Typical Spoken Response continuing
GUI Response N/A

Team Direction

Explore

This command is intended to cause the robots to explore an area. The semantics should be interpreted as attempting to cover the area with mapping sensors. The area is defined as an ordered set of vertexes which describe a polygon. To date, in practice, coverage of the area is considered to be satisfied when a single mapping robot traverses all of the vertexes as if they were way-points. This is a poor coverage algorithm, and needs to be improved. As a side-effect, explore areas with one and two vertexes has meaning and explore is used to move the robots around, Tkharris 11:32, 12 June 2007 (EDT).

In spoken language, an explore command can be issued, but there are currently no facilities for defining areas via spoken language.

Grammar Net [HumanExploreCommand]
Typical Spoken Use explore
GUI Use Explore mode: left-click on vertexes, right-click or double-click on final vertex
Typical Spoken Response i am organizing a party to explore the specified area
GUI Response
  1. a polygon is drawn defining the area
  2. when the explore is completed the polygon is removed

Search

The search command is the same as the [#explore|] command, except that in addition to mapping the area, the area should be searched for treasure. If treasure is found, the robots should issue bring that treasure to home.

Grammar Net [HumanExploreCommand]
Typical Spoken Use search
GUI Use Search mode: left-click on vertexes, right-click or double-click on final vertex
Typical Spoken Response i am organizing a party to search the specified area
GUI Response
  1. a polygon is drawn defining the area
  2. when the search is completed the polygon is removed

Follow

The follow command causes one robot to follow another.

This should be, but is not currently supported by the GUI, Tkharris 11:32, 12 June 2007 (EDT).

Grammar Net [HumanFollowCommand]
Typical Spoken Use clyde follow alphie
GUI Use N/A
Typical Spoken Response following alphie
GUI Response N/A

Map Related

Reposition

Robots may loose track of where they are in relation to the map. Repositioning them on the map tells them to offset their location.

This is not supported via speech as it would be impossible to indicate a robots position on the map with the requisite precision.

Grammar Net [N/A]
Typical Spoken Use N/A
GUI Use Reposition mode: with the proper robot selected, left-click and hold on the new position while dragging the tail of the robot so that is faces the right direction
Typical Spoken Response N/A
GUI Response the robot is shown in its new position and its map data is flushed

Zoom In

This should be, but is not currently supported by the speech mode, Tkharris 11:32, 12 June 2007 (EDT).

Grammar Net [N/A]
Typical Spoken Use N/A
GUI Use Zoom In mode: left-click on the area for which you want to zoom in
Typical Spoken Response N/A
GUI Response the map will zoom in

Zoom Out

This should be, but is not currently supported by the speech mode, Tkharris 11:32, 12 June 2007 (EDT).

Grammar Net [N/A]
Typical Spoken Use N/A
GUI Use Press the Zoom Out button
Typical Spoken Response N/A
GUI Response the map will zoom out
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