Abstract Language processing and high level execution and control are functional capabilities that arise in the context of cognitive systems. In the context of human-robot interaction, natural language is considered a good communication medium as it allows humans with less training about the robot's internal language to be able to command and interact with the robot. However, any natural language communication from the human needs to be translated to a formal language that the robot can understand.
@article{baraletal17acs,
title={A High Level Language for Human Robot Interaction},
author={Chitta Baral and Barry Lumpkin and Matthias Scheutz},
year={2017},
journal={Advances in Cognitive Systems},
issue={},
pages={1--6}
url={https://hrilab.tufts.edu/publications/baraletal17acs.pdf}
}