| Vol-2487 urn:nbn:de:0074-2487-8 Copyright © 2019 for the individual papers by the papers' authors. Copyright © 2019 for the volume as a collection by its editors. This volume and its papers are published under the Creative Commons License Attribution 4.0 International (CC BY 4.0).

# SDMM19 and AnSWeR19

### Joint Proceedings of the 1st International Workshop on the Semantic Descriptor, Semantic Modeling and Mapping for Humanlike Perception and Navigation of Mobile Robots toward Large Scale Long-Term Autonomy (SDMM19) and the 3rd International Workshop on the Applications of Knowledge Representation and Semantic Technologies in Robotics (AnSWeR19)
co-located with International Conference on the Intelligent Robots and Systems (IROS 2019)

### Macau, China, November 8, 2019.

Edited by

### Tae-Yong Kuc *
Sumaira Manzoor *
Ilaria Tiddi **
Masoumeh Mansouri ***
Emanuele Bastianelli ****
Amelie Gyrard *****

* Sungkyunkwan University, South Korea
**Vrije Universiteit Amsterdam, Netherlands
*** Birmingham University, UK
**** Heriot-Watt University, UK
***** Wright State University, USA

## Table of Contents

- Preface
- Organizers
- Contents

### SDMM19: 1st International Workshop on the Semantic Descriptor, Semantic Modeling and Mapping for Humanlike Perception and Navigation of Mobile Robots toward Large Scale Long-Term Autonomy

- A Novel Semantic SLAM Framework for Humanlike High-Level Interaction and Planning in Global Environment 10-21
  Sumaira Manzoor, Sung-Hyeon Joo, Yuri Goncalves Rocha, Hyun-Uk Lee, Tae-Yong Kuc
- The Semantics of Context: The Role of Interpretation and Belief in Visual Localization for Robots (short paper) 22-26
  Stephanie Lowry
- Dense-Loop: A Loop Closure Detection Method for Visual SLAM using DenseNet Features 27-37
  Chao Yu, ZuXin Liu, Xin-Jun Liu, Fei Qiao, Yu Wang, Fugui Xie, Qi Wei, Yi Yang
- Learning Safety-Aware Policy with Imitation Learning for Context-Adaptive Navigation 38-47
  Bo Xiong, Fangshi Wang, Chao Yu, Fei Qiao, Yi Yang, Qi Wei, Xin-Jun Liu
- Guidance of Mobile Robot Navigation in Urban Environment using Human-Centered Cloud Map (short paper) 48-52
  Jae-Yeong Lee, Sunglok Choi, Seunghwan Park Jaeho Lim , Seungmin Choi , Seohyun Jeon , Yunseok Lee, Beomsu Seo, Wonpil Yu
- Semantic Information-based Reliable Autonomous Navigation in Wide Space (short paper) 53-57
  Taeyoung Uhm, Ji-Hyun Park, Gi-Deok Bae, Jung-Woo Lee, Young-Ho Choi, SangYong Han
- Towards Explanations of Plan Execution for Human-Robot Teaming (short paper) 58-64
  Jiyoun Moon, Daniele Magazzeni, Michael Cashmore
- Mental Simulation for Autonomous Learning and Planning Based on Triplet Ontological Semantic Model (short paper) 65-73
  Yuri Goncalves Rocha, Tae-Yong Kuc
- Combining Semantic Modeling and Deep Reinforcement Learning for Autonomous Agents in Minecraft 74-77
  Andrew Melnik, Lennart Bramlage, Hendric Voss, Federico Rossetto, Helge Ritter

### AnSWeR19: 3rd International Workshop on the Applications of Knowledge Representation and Semantic Technologies in Robotics

- How Does a Robot Speak? About the Man-Machine Verbal Interaction 78-93
  Pierre-André BUVET, Bertrand FACHE, Abdelhadi ROUAM
- Hybrid Question Answering System based on Natural Language Processing and SPARQL Query (short paper) 94-102
  Mickael Rajosoa, Rim Hantach, Sarra Ben Abbes, Philippe Calvez
- Auto-Perceptive Reinforcement Learning (APRiL) 103-112
  Rebecca Allday, Simon Hadfield, Richard Bowden

The whole proceedings can also be downloaded as a single file: Complete proceedings

2019-11-02: submitted by Sumaira Manzoor, metadata incl. bibliographic data published under Creative Commons CC0
2019-11-03: published on CEUR-WS.org |valid HTML5|