A sketch interface for mobile robots

In human to human communication, a hand-drawn route map is often sketched to show a desired navigation path. In this paper, we describe a PDA sketching interface that can be used to direct a mobile robot along a specified path. Because sketched route maps are not drawn precisely or necessarily to scale, we do not attempt to analyze precise path information, but rather qualitative route information is extracted. The paper focuses on the front-end sketch understanding and includes a description of the interactive features, such as deleting, moving, and labeling landmarks. Results of a user evaluation are also presented, in which participants report that the sketching interface was as easy as using pencil and paper by a 2:1 margin.