Abstract
This paper proposes a Social Reward Sources (SRS) design for a Human-Robot Collaborative Navigation (HRCN) task: human-robot collaborative search. It is a flexible approach capable of handling the collaborative task, human-robot interaction and environment restrictions, all integrated on a common environment. We modelled task rewards based on unexplored area observability and isolation and evaluated the model through different levels of human-robot communication. The models are validated through quantitative evaluation against both agents’ individual performance and qualitative surveying of participants’ perception. After that, the three proposed communication levels are compared against each other using the previous metrics.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Ajoudani, A., Zanchettin, A.M., Ivaldi, S., Albu-Schäffer, A., Kosuge, K., Khatib, O.: Progress and prospects of the human-robot collaboration. Auton. Robots 42, 957–975 (2018)
Andersen, R.S., Madsen, O., Moeslund, T.B., Amor, H.B.: Projecting robot intentions into human environments. In: 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), pp. 294–301. IEEE (2016)
Brambilla, M., Ferrante, E., Birattari, M., Dorigo, M.: Swarm robotics: a review from the swarm engineering perspective. Swarm Intell. 7(1), 1–41 (2013)
Bratman, M.E.: Shared cooperative activity. Philos. Rev. 101(2), 327–341 (1992)
Carlson, T., Demiris, Y.: Collaborative control for a robotic wheelchair: evaluation of performance, attention, and workload. IEEE Trans. Syst. Man Cybern. Part B (Cybern.) 42(3), 876–888 (2012)
Chen, M., Nikolaidis, S., Soh, H., Hsu, D., Srinivasa, S.: Planning with trust for human-robot collaboration. In: Proceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction, pp. 307–315. ACM (2018)
Clark, H.H., Schreuder, R., Buttrick, S.: Common ground at the understanding of demonstrative reference. J. Verbal Learn. Verbal Behav. 22(2), 245–258 (1983)
Clodic, A., Pacherie, E., Alami, R., Chatila, R.: Key elements for human-robot joint action. In: Sociality and Normativity for Robots, pp. 159–177. Springer (2017)
Devin, S., Alami, R.: An implemented theory of mind to improve human-robot shared plans execution. In: 2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI), pp. 319–326. IEEE (2016)
Dragan, A.D., Bauman, S., Forlizzi, J., Srinivasa, S.S.: Effects of robot motion on human-robot collaboration. In: Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction, pp. 51–58. ACM (2015)
Ferrer, G., Zulueta, A.G., Cotarelo, F.H., Sanfeliu, A.: Robot social-aware navigation framework to accompany people walking side-by-side. Auton. Robots 41(4), 775–793 (2017)
Fong, T., Thorpe, C., Baur, C.: Collaboration, dialogue, human-robot interaction. In: Robotics Research, pp. 255–266. Springer (2003)
Garrell, A., Garza-Elizondo, L., Villamizar, M., Herrero, F., Sanfeliu, A.: Aerial social force model: a new framework to accompany people using autonomous flying robots. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017, Vancouver, BC, Canada, 24–28 September 2017, pp. 7011–7017 (2017)
Hoffman, G.: Evaluating fluency in human-robot collaboration. IEEE Trans. Hum.-Mach. Syst. 49, 209–218 (2019)
Hoffman, G., Breazeal, C.: Collaboration in human-robot teams. In: AIAA 1st Intelligent Systems Technical Conference, p. 6434 (2004)
Hommel, B., Müsseler, J., Aschersleben, G., Prinz, W.: The theory of event coding (TEC): a framework for perception and action planning. Behav. Brain Sci. 24(5), 849–878 (2001)
Jackson, D.E., Ratnieks, F.L.: Communication in ants. Curr. Biol. 16(15), R570–R574 (2006)
Jayawardena, C., Ardekani, I., et al.: A navigation model for side-by-side robotic wheelchairs for optimizing social comfort in crossing situations. Robot. Auton. Syst. 100, 27–40 (2018)
Lemaignan, S., Warnier, M., Sisbot, E.A., Clodic, A., Alami, R.: Artificial cognition for social human-robot interaction: an implementation. Artif. Intell. 247, 45–69 (2017)
Morales, Y., Kanda, T., Hagita, N.: Walking together: side-by-side walking model for an interacting robot. J. Hum.-Robot Interact. 3(2), 50–73 (2014)
Nakazawa, K., Takahashi, K., Kaneko, M.: Movement control of accompanying robot based on artificial potential field adapted to dynamic environments. Electr. Eng. Jpn. 192(1), 25–35 (2015)
Narzt, W., Wilflingseder, U., Pomberger, G., Kolb, D., Hörtner, H.: Self-organising congestion evasion strategies using ant-based pheromones. IET Intel. Transp. Syst. 4(1), 93–102 (2010)
Peternel, L., Tsagarakis, N., Caldwell, D., Ajoudani, A.: Robot adaptation to human physical fatigue in human-robot co-manipulation. Auton. Robots 42, 1–11 (2018)
Petit, M., Lallée, S., Boucher, J.D., Pointeau, G., Cheminade, P., Ognibene, D., Chinellato, E., Pattacini, U., Gori, I., Martinez-Hernandez, U., et al.: The coordinating role of language in real-time multimodal learning of cooperative tasks. IEEE Trans. Auton. Ment. Dev. 5(1), 3–17 (2013)
Roncone, A., Mangin, O., Scassellati, B.: Transparent role assignment and task allocation in human robot collaboration. In: 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 1014–1021. IEEE (2017)
Susnea, I., Vasiliu, G., Filipescu, A., Radaschin, A.: Virtual pheromones for real-time control of autonomous mobile robots. Stud. Inform. Control 18(3), 233–240 (2009)
The, V.N., Jayawardena, C.: A decision making model for optimizing social relationship for side-by-side robotic wheelchairs in active mode. In: IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 735–740 (2016)
Tomasello, M., Carpenter, M.: Shared intentionality. Dev. Sci. 10(1), 121–125 (2007)
Van Ginkel, W., Tindale, R.S., Van Knippenberg, D.: Team reflexivity, development of shared task representations, and the use of distributed information in group decision making. Group Dyn.: Theory Res. Pract. 13(4), 265 (2009)
Vander Meer, R.K., Breed, M.D., Espelie, K.E., Winston, M.L.: Pheromone Communication in Social Insects. Ants, Wasps, Bees and Termites, vol. 162. Westview, Boulder (1998)
Wykowska, A., Chellali, R., Al-Amin, M.M., Müller, H.J.: Implications of robot actions for human perception. How do we represent actions of the observed robots? Int. J. Soc. Robot. 6(3), 357–366 (2014)
Acknowledgements
Work supported under projects ColRobTransp (DPI2016-78957-RAEI/FEDER EU), TERRINet (H2020-INFRAIA-2017-1-two-stage-730994) and by the Spanish State Research Agency through the Maria de Maeztu Seal of Excellence to IRI (MDM-2016-0656).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Dalmasso, M., Garrell, A., Jiménez, P., Sanfeliu, A. (2020). Human-Robot Collaborative Navigation Search Using Social Reward Sources. In: Silva, M., Luís Lima, J., Reis, L., Sanfeliu, A., Tardioli, D. (eds) Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019. Advances in Intelligent Systems and Computing, vol 1093. Springer, Cham. https://doi.org/10.1007/978-3-030-36150-1_8
Download citation
DOI: https://doi.org/10.1007/978-3-030-36150-1_8
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-36149-5
Online ISBN: 978-3-030-36150-1
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)