Multi-Layer Situation Map for Robot Interaction based on Situation

This paper proposes the Multi-Layer Situation Map to express the relationship between objects and storage places in cleanup task. Recently, service robots have to estimate, decide and act automatically in various situations to provide services like human beings. An interaction robot should perceive a vague situation and communicate with human about cleanup service. For an interaction robot that talks suitable contents according to a vague situation, we propose an estimation system which is called a Multi-Layer Situation Map, and express the relationship between objects and storages.