Remote Agent: to boldly go where no AI system has gone before
Artificial Intelligence - Special issue: artificial intelligence 40 years later
Efficient solution techniques for disjunctive temporal reasoning problems
Artificial Intelligence
Whose job is it anyway? a study of human-robot interaction in a collaborative task
Human-Computer Interaction
Interleaving temporal planning and execution in robotics domains
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Explorations in engagement for humans and robots
Artificial Intelligence
Cost-Based Anticipatory Action Selection for Human–Robot Fluency
IEEE Transactions on Robotics
Enabling effective human-robot interaction using perspective-taking in robots
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
Engaging robots: easing complex human-robot teamwork using backchanneling
Proceedings of the 2013 conference on Computer supported cooperative work
Proceedings of the 8th ACM/IEEE international conference on Human-robot interaction
Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
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We describe the design and evaluation of Chaski, a robot plan execution system that uses insights from human-human teaming to make human-robot teaming more natural and fluid. Chaski is a task-level executive that enables a robot to collaboratively execute a shared plan with a person. The system chooses and schedules the robot's actions, adapts to the human partner, and acts to minimize the human's idle time. We evaluate Chaski in human subject experiments in which a person works with a mobile and dexterous robot to collaboratively assemble structures using building blocks. We measure team performance outcomes for robots controlled by Chaski compared to robots that are verbally commanded, step-by-step by the human teammate. We show that Chaski reduces the human's idle time by 85%, a statistically significant difference. This result supports the hypothesis that human-robot team performance is improved when a robot emulates the effective coordination behaviors observed in human teams.