The piano movers problem is one of the milestone subjects in the history of motion planning and was discussed frequently. Common knowledge until 2010 was that its an example for np hard problems, that the state space is very large and its very difficult to solve the problem with existing algorithms like RRT.
Instead of discussing the issue only from a mathematical and algorithmic standpoint there is need to introduce natural language as communication code between the low level task and a high level external oracle who gives advice what to do next. Such an interface can be realized as a head up display. The graphical area on top shows the classical piano movers problem as a 2d rendering, while the textual widget on the bottom shows the comments from the external oracle which monitors the scene.
The external oracle can be located outside of the robot or it can be embedded inside the robot than its called the inner voice of the robot. In the example it generates speech for observation, goal and action. This translates the piano movers problem into a an abstract textual problem similar to an interactive fiction story.
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