Spatial representation and reasoning for human-robot collaboration

Authors:
William G. Kennedy;Magdalena D. Bugajska;Matthew Marge;William Adams;Benjamin R. Fransen;Dennis Perzanowski;Alan C. Schultz;J. Gregory Trafton
Affiliations:
Naval Research Laboratory, Washington, DC;Naval Research Laboratory, Washington, DC;Naval Research Laboratory, Washington, DC;Naval Research Laboratory, Washington, DC;Naval Research Laboratory, Washington, DC;Naval Research Laboratory, Washington, DC;Naval Research Laboratory, Washington, DC;Naval Research Laboratory, Washington, DC
Venue:
AAAI'07 Proceedings of the 22nd national conference on Artificial intelligence - Volume 2
Year:
2007

Citing 3
Cited 8

Integrating Exploration, Localization, Navigation and Planning with a Common Representation

Autonomous Robots
Children and robots learning to play hide and seek

Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction
Enabling effective human-robot interaction using perspective-taking in robots

IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans

Human-robot interaction: a survey

Foundations and Trends in Human-Computer Interaction
Integrating vision and audition within a cognitive architecture to track conversations

Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
Mobile human-robot teaming with environmental tolerance

Proceedings of the 4th ACM/IEEE international conference on Human robot interaction
Exploring design space for an integrated intelligent system

Knowledge-Based Systems
Incorporating mental simulation for a more effective robotic teammate

AAAI'08 Proceedings of the 23rd national conference on Artificial intelligence - Volume 3
Pointing to space: modeling of deictic interaction referring to regions

Proceedings of the 5th ACM/IEEE international conference on Human-robot interaction
A robotic world model framework designed to facilitate human-robot communication

SIGDIAL '11 Proceedings of the SIGDIAL 2011 Conference
Toward a situation model in a cognitive architecture

Computational & Mathematical Organization Theory

Quantified Score

Hi-index	0.00

Visualization

Abstract

How should a robot represent and reason about spatial information when it needs to collaborate effectively with a human? The form of spatial representation that is useful for robot navigation may not be useful in higher-level reasoning or working with humans as a team member. To explore this question, we have extended previous work on how children and robots learn to play hide and seek to a human-robot team covertly approaching a moving target. We used the cognitive modeling system, ACT-R, with an added spatial module to support the robot's spatial reasoning. The robot interacted with a team member through voice, gestures, and movement during the team's covert approach of a moving target. This paper describes the new robotic system and its integration of metric, symbolic, and cognitive layers of spatial representation and reasoning for its individual and team behavior.