Systematic analysis and synthesis of human subjective knowledge of space and time for intuitive human-robot interaction

Among sub-languages (i.e., subdivided categories of natural language), spatial language is the most important for human-robot interaction at various scenes in our daily life. This paper describes systematic analysis and synthesis of human subjective knowledge expressed in spatial language based on certain cognitive hypotheses of human mental image and gives a brief sketch of its implementation. Mental images are modeled as loci in attribute spaces to be represented as logical formulas and thereby their operations and properties are formalized in association with such formulas.