Figure 1.
Figure 2.
Figure 3.
Figure 4.
Figure 5.
Figure 6.
Figure 7.
Figure 8.
Default coordinates of the offices and location of ARIS
| No. | Offices | Coordinate (X) | Coordinate (Y) |
|---|---|---|---|
| 1 | Office 1 | −0.25 | −0.22 |
| 2 | Office 2 | −3.59 | −0.41 |
| 3 | Office 3 | 6.35 | −7.09 |
| 4 | Office 4 | 8.72 | 4.30 |
| 5 | Office 5 | 0.59 | −14.39 |
| 6 | Default place of the ARIS to charge | 0.0 | 0.0 |
Position error
| Default Inflation Radius | Inflation Radius 0.5 m | |||||
|---|---|---|---|---|---|---|
| User | Attempts | Reached the Correct Coordinates | Error Position (m) | Reached the Correct Coordinates | Reached the Correct Coordinates | Error Position (m) |
| U1 | 2 | Yes | 0.08 | Yes | Yes | 0.06 |
| U2 | 2 | Yes | 0.09 | Yes | Yes | 0.07 |
| U3 | 3 | No | 0.50 | No | No | 0.40 |
| U4 | 4 | Yes | 0.07 | Yes | Yes | 0.05 |
| U5 | 2 | Yes | 0.08 | Yes | Yes | 0.06 |
| U6 | 2 | Yes | 0.09 | Yes | Yes | 0.07 |
| U7 | 3 | Yes | 0.08 | Yes | Yes | 0.06 |
| U8 | 4 | Yes | 0.10 | Yes | Yes | 0.08 |
| U9 | 3 | Yes | 0.09 | Yes | Yes | 0.07 |
| U10 | 4 | Yes | 0.10 | Yes | Yes | 0.08 |
Comparison of interaction latency between standard processing pipeline and FAQ dictionary-based optimization for common queries
| Stage | Component | Standard Pipeline Latency (ms) | FAQ Dictionary Pipeline Latency (ms) |
|---|---|---|---|
| A | ASR (Google Speech-to-Text) | 480–650 | 120–180 |
| B | NLP (Gemini-l.5-pro) | 600–900 | 240–360 |
| C | TTS (gTTS) | 300–450 | 180–270 |
| Total Interaction | End-to-end delay | 1500–2200 | 600–910 |
Performance of ARIS with inflation radius 0_5 m
| User | Attempts | Questions Answered Correctly | Reached the Correct Coordinates | Avoided Obstacles (Yes/No) | Travel Time (s) | Success Rate |
|---|---|---|---|---|---|---|
| U1 | 2 | Yes | Yes | Yes | 52 | 100% |
| U2 | 2 | Yes | Yes | Yes | 59 | 100% |
| U3 | 3 | No | No | Yes | 63 | 66% |
| U4 | 4 | Yes | Yes | Yes | 49 | 100% |
| U5 | 2 | Yes | Yes | Yes | 55 | 100% |
| U6 | 2 | Yes | Yes | Yes | 61 | 100% |
| U7 | 3 | Yes | Yes | Yes | 50 | 100% |
| U8 | 4 | No | Yes | Yes | 64 | 66% |
| U9 | 3 | Yes | Yes | Yes | 60 | 100% |
| U10 | 4 | No | Yes | Yes | 53 | 66% |
Average latency
| Stage | Component | Average Latency (ms) | Descriptions |
|---|---|---|---|
| A | ASR (Google Speech-to-Text) | 480–650 | Varies with noise and internet conditions |
| B | NLP (Gemini-l.5-pro) | 600–900 | Depends on prompt complexity and server load |
| C | TTS (gTTS) | 300–450 | Measured for responses < 50 words |
| Total Interaction | End-to-end delay | 1500–2200 | End-to-end delay per user query-response c |
ARIS Performance of ARIS
| User | Attempts | Questions Answered Correctly | Reached the Correct Coordinates | Avoided Obstacles (Yes/No) | Travel Time (s) | Success Rate |
|---|---|---|---|---|---|---|
| U1 | 2 | Yes | Yes | Yes | 52 | 100% |
| U2 | 2 | Yes | Yes | IF | 60 | 100% |
| U3 | 3 | No | No | No | 78 | 0% |
| U4 | 4 | Yes | Yes | Yes | 49 | 100% |
| U5 | 2 | Yes | Yes | Yes | 55 | 100% |
| U6 | 2 | Yes | Yes | Yes | 63 | 100% |
| U7 | 3 | Yes | Yes | Yes | 50 | 100% |
| U8 | 4 | No | Yes | No | 70 | 33% |
| U9 | 3 | Yes | Yes | Yes | 62 | 100% |
| U10 | 4 | No | Yes | No | 43 | 33% |