Mixed-initiative human-robot interaction using hierarchical Bayesian networks

Jin Hyuk Hong, Youn Suk Song, Sung Bae Cho

Research output: Contribution to journalArticlepeer-review

20 Citations (Scopus)


As the usage of service robots becomes more sophisticated, direct communication by means of human language is required to increase the efficiency of their performance. In natural speech interaction, however, people often omit some words and rely on background knowledge or the context, resulting in ambiguity. In order to develop smarter service robots, therefore, managing the context of interaction is essential. In this correspondence, we have investigated the mixed-initiative interaction that prompts for missing information and clarifies ambiguous statements based on hierarchically designed Bayesian networks. Simulation with the Kephera II robot and a usability test have demonstrated the usefulness of the proposed method.

Original languageEnglish
Pages (from-to)1158-1164
Number of pages7
JournalIEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans
Issue number6
Publication statusPublished - 2007 Nov

Bibliographical note

Funding Information:
Manuscript received August 15, 2005; revised October 1, 2006. This work was supported by MIC, Korea under ITRC IITA-2006-(C1090-0603-0046). This paper was recommended by Associate Editor A. Maciejewski. J.-H. Hong and S.-B. Cho are with the Department of Computer Science, Yonsei University, Seoul 120-749, Korea (e-mail: hjinh@sclab.yonsei.ac.kr; sbcho@cs.yonsei.ac.kr). Y.-S. Song is with LG Electronics, Seoul 150-721, Korea (e-mail: cor-lary@sclab.yonsei.ac.kr). Color versions of one or more of the figures in this paper are available online at http://ieeexplore.ieee.org. Digital Object Identifier 10.1109/TSMCA.2007.906570

All Science Journal Classification (ASJC) codes

  • Software
  • Information Systems
  • Human-Computer Interaction
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications


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