{"id":"https://openalex.org/W1995304820","doi":"https://doi.org/10.1109/iros.2013.6696345","title":"Using semantic fields to model dynamic spatial relations in a robot architecture for natural language instruction of service robots","display_name":"Using semantic fields to model dynamic spatial relations in a robot architecture for natural language instruction of service robots","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W1995304820","doi":"https://doi.org/10.1109/iros.2013.6696345","mag":"1995304820"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696345","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696345","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002306130","display_name":"Juan Fasola","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Juan Fasola","raw_affiliation_strings":["University of Southern California, Los Angeles, CA, USA","[University of Southern California Los, Angeles, CA, USA]"],"affiliations":[{"raw_affiliation_string":"University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"[University of Southern California Los, Angeles, CA, USA]","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010248533","display_name":"Maja J. Matari\u0107","orcid":"https://orcid.org/0000-0001-8958-6666"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maja J. Mataric","raw_affiliation_strings":["University of Southern California, Los Angeles, CA, USA","[University of Southern California Los, Angeles, CA, USA]"],"affiliations":[{"raw_affiliation_string":"University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]},{"raw_affiliation_string":"[University of Southern California Los, Angeles, CA, USA]","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5002306130"],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":15.8155,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":{"value":0.99000527,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"143","last_page":"150"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12031","display_name":"Speech and dialogue systems","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12031","display_name":"Speech and dialogue systems","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9950000047683716,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8154716491699219},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.5670117735862732},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5645374059677124},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5121464729309082},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.501056432723999},{"id":"https://openalex.org/keywords/semantic-mapping","display_name":"Semantic mapping","score":0.4741620123386383},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45495831966400146},{"id":"https://openalex.org/keywords/service","display_name":"Service (business)","score":0.45418938994407654},{"id":"https://openalex.org/keywords/software-architecture","display_name":"Software architecture","score":0.45406314730644226},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4308995306491852},{"id":"https://openalex.org/keywords/service-robot","display_name":"Service robot","score":0.41348546743392944},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.31968384981155396},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.30337879061698914}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8154716491699219},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.5670117735862732},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5645374059677124},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5121464729309082},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.501056432723999},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.4741620123386383},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45495831966400146},{"id":"https://openalex.org/C2780378061","wikidata":"https://www.wikidata.org/wiki/Q25351891","display_name":"Service (business)","level":2,"score":0.45418938994407654},{"id":"https://openalex.org/C35869016","wikidata":"https://www.wikidata.org/wiki/Q846636","display_name":"Software architecture","level":3,"score":0.45406314730644226},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4308995306491852},{"id":"https://openalex.org/C2776228582","wikidata":"https://www.wikidata.org/wiki/Q7455797","display_name":"Service robot","level":3,"score":0.41348546743392944},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.31968384981155396},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.30337879061698914},{"id":"https://openalex.org/C136264566","wikidata":"https://www.wikidata.org/wiki/Q159810","display_name":"Economy","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6696345","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696345","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/4","display_name":"Quality Education","score":0.46000000834465027}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W35857118","https://openalex.org/W46490633","https://openalex.org/W1493327450","https://openalex.org/W1500902590","https://openalex.org/W1949907236","https://openalex.org/W1993542429","https://openalex.org/W1998840849","https://openalex.org/W2001006503","https://openalex.org/W2032846947","https://openalex.org/W2052284096","https://openalex.org/W2069809153","https://openalex.org/W2097606805","https://openalex.org/W2107537133","https://openalex.org/W2117211893","https://openalex.org/W2147122465","https://openalex.org/W2147191817","https://openalex.org/W2156050092","https://openalex.org/W2275312723","https://openalex.org/W2404643842","https://openalex.org/W2488460320","https://openalex.org/W3009125560","https://openalex.org/W4233091368","https://openalex.org/W4233165380","https://openalex.org/W6601425544","https://openalex.org/W6601910536","https://openalex.org/W6629447285","https://openalex.org/W6713378779"],"related_works":["https://openalex.org/W2115030537","https://openalex.org/W3135633959","https://openalex.org/W4225707365","https://openalex.org/W4285816516","https://openalex.org/W2735929339","https://openalex.org/W1782964968","https://openalex.org/W2104437341","https://openalex.org/W2097406002","https://openalex.org/W2029806546","https://openalex.org/W3004140625"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,22,36,104,111],"methodology":[3,77],"for":[4],"enabling":[5],"service":[6],"robots":[7],"to":[8,39,78,121],"follow":[9],"natural":[10],"language":[11,27],"commands":[12],"from":[13],"non-expert":[14],"users,":[15],"with":[16,21,94],"and":[17,61,71,81,115,125],"without":[18],"user-specified":[19],"constraints,":[20],"particular":[23],"focus":[24],"on":[25,103],"spatial":[26,45,53],"understanding.":[28],"As":[29],"part":[30],"of":[31,44,51,64,74,87,97,127],"our":[32,65,98,128],"approach,":[33],"we":[34],"propose":[35],"novel":[37],"extension":[38],"the":[40,49,72,75,85,123],"semantic":[41],"field":[42],"model":[43],"prepositions":[46],"that":[47],"enables":[48],"representation":[50],"dynamic":[52],"relations":[54],"involving":[55],"paths.":[56],"The":[57,91],"design,":[58],"system":[59],"modules,":[60],"implementation":[62],"details":[63],"robot":[66,99,107],"software":[67,100],"architecture":[68,101],"are":[69],"presented":[70],"relevance":[73],"proposed":[76],"interactive":[79],"instruction":[80],"task":[82],"modification":[83],"through":[84],"addition":[86],"constraints":[88],"is":[89],"discussed.":[90],"paper":[92],"concludes":[93],"an":[95],"evaluation":[96],"implemented":[102],"simulated":[105],"mobile":[106],"operating":[108],"in":[109,116,130],"both":[110],"2D":[112],"home":[113],"environment":[114,119],"real":[117,131],"world":[118,132],"maps":[120],"demonstrate":[122],"generalizability":[124],"usefulness":[126],"approach":[129],"applications.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":11},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":8},{"year":2013,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
