My research interest lies in the area(s) of Artificial Intelligence, Cognitive Science and Human-Robot Interaction, more specifically in building robotic systems that can communicate appropriately with human users. This is relevant to both industrial and service robotic systems, as the demands on flexibility, ease-of-use and human-comprehensible setup and configuration are increasing. During my PhD project on Human Augmented Mapping I observed several interesting phenomena in an interactive home tour scenario, which inspired my further research on firstly detecting and possibly finding solutions to ambiguities arising from mismatches in human and robotic expectations and understanding of concepts. In short, my research tries to establish common ground between humans and machines (robotic systems) by applying AI methods to analysing and modelling the interaction between humans and robots.