Human-Robot communication based on sensor information

The paper proposes a new communication system named SOBAR which employs environmental sensors for achieving human-robot interaction with physical world objects or environmental affairs. However, there is the uncertainty of human's attention when he/she interacts with the objects. The uncertainty causes misinterpretation of sensor information. The mechanism resolves the uncertainty by drawing human's attention to an aspect of a selected object with a robot's utterance and its gesture. After drawing his/her attention, it determines the interpretation of sensor information. Moreover, the interpretation based on established attention achieves variety of interaction with the same sensor data.