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Service robotics is currently a pivotal research area in robotics, with enormous societal potential. Since service robots directly interact with people, nding natu-ral" and easy-to-use user interfaces is of fundamental importance. While past work has predominately focussed on issues such a s n a vigation and manipulation, relatively few robotic systems are(More)
For mobile robots to assist people in everyday life, they must be easy to instruct. This paper describes a gesture-based interface for human robot interaction, which enables people to instruct robots through easy-to-perform arm gestures. Such gestures might be static pose gestures, which involve only a specific configuration of the person's arm, or they(More)
This report introduces Bayesian logic networks (BLNs), a statistical rela-tional knowledge representation formalism that is geared towards practical applicability. A BLN is a meta-model for the construction of a probability distribution from local probability distribution fragments (as in a Bayesian network) and global logical constraints formulated in(More)
Since a variety of recent changes in both robotic hardware and software suggests that service robots will soon become possible, to nd \natural" ways of communication between human and robots is of fundamental importance for the robotic eld. This paper describes a gesture-based interface for human-robot interaction, which enables people to instruct robots(More)