Semiotic control system for a mobile robotic platform

The paper considers the problem of combining a control system based on a semiotic model of a ro-bot's world and human-machine interfaces, in particular, a voice interface, into a single system that processes both user commands and the robot's autonomous behavior. The developed system allows controlling a robot using a voice interface, executing extended be-haviors, eliminating command ambiguities by resolving spatial relationships and taking into account the operator's gaze direction. This is achieved by integrating all the information necessary for mak-ing a decision and choosing the robot's action into the world model, applying logical inference to supplement it, and using heuristics to eliminate ambiguities in the speech command when there are not enough known facts for this. The decision-making system based on this world model also pro-vides the robot's autonomous response to special situations. The paper describes the developed system architecture and demonstrates the applicability of this approach using a simulated model of a mobile robot in Gazebo. The simulation showed the possibil-ity of controlling a mobile platform using the developed system and the indirect control proved to be more ergonomic. Although, it should be noted that the computational load increases substantially when it is necessary to process a large number of objects in the world and it is impossible to process conflicting information in the current implementation. The computational load is partially compen-sated by algorithms that make it possible to infer only the information necessary to process the current command.