(The following dialogue can be performed in a continuous sequence: voice and [gesture] input and output)

O: Where are the buildings? (Raise question)

U: Here [displays on GUI] (Answer question)

O: Go to this one. [click] (Deitic command)

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O: Fly to main street. (Command)

O: No, I meant circle road. (Elliptical revision)

U: Okay. [Route changed] (Confirmation backchannel)

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O: Hide the buildings. (GUI Command)

U: [buildings disappear from GUI].

O: Next, continue to the bridge and then here [click]. (Complex command with deitic)

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O: Then look at the parking lot, the hospital, and the building. (Ambiguous command)

U: Where is the parking lot? (UAV presupposition check, detect unknown, raise question)

O: [click] (Graphical ambiguity resolution)

U: Okay. (Confirmation backchannel)

U: Which building do you mean? (UAV presupposition check, detect ambiguity, raise question)

O: The airport. (Verbal ambiguity resolution)

U: The airport. (Confirmation backchannel)

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O: Go to the ground station, hover here [click], and go back to it. (Anaphoric multimodal command)

O: Then land at the parking lot. (Command, previously added referent)

O: No, not the parking lot, the waypoint. (Revision)

U: Which waypoint do you mean? (UAV clarification question)

O: This one [click]. (Multimodal Clarification)

U: Okay. [Route changed] (Confirmation backchannel)

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O: Plan the route. (Command)

U: Planning Route. Route planned. [Displayed on GUI] (Confirmation backchannel)

O: Roger. Proceed. (Command)

U: Executing route. (Confirmation backchannel)

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[a truck appears on the map]

O: Fly to the truck. (Command, reference to UAV's NP)

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http://www-csli.stanford.edu/semlab/witas.html