Kontinuální plánování pro zajištění vzájemného porozumění v situovaném dialogu

The work investigates the problem of grounding-adding to common ground - in situated human-robot dialogues. Common ground, a special kind of mutual understanding among dialogue parties, is essential for any joint activity and as such is central to any interaction. In our approach, we treat dialogue just as a part of a wider collaborative activity, extending Thomason et al.'s approach to dialogue modelling based on abductive reasoning. Our system performs abduction over agents' (i.e. dialogue participants) beliefs, similarly as in the related field of multi-agent planning. We define beliefs as relational structures that are assigned a modal-logical semantics and show how common ground is achieved and maintained using these structures. Finally, we present an implementation of the system in a cognitive architecture of a robot in a scenario where the robot learns a correct model of a visual scene in a collaboration with a human tutor