Electronic Resource
Shared task representation for human–robot collaborative navigation: the collaborative search case
| العنوان: | Shared task representation for human–robot collaborative navigation: the collaborative search case |
|---|---|
| المؤلفون: | Universitat Politècnica de Catalunya. Doctorat en Automàtica, Robòtica i Visió, Universitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial, CSIC-UPC, Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya. ROBiri - Grup de Percepció i Manipulació Robotitzada de l'IRI, Universitat Politècnica de Catalunya. RAIG - Mobile Robotics and Artificial Intelligence Group, Universitat Politècnica de Catalunya. VIS - Visió Artificial i Sistemes Intel·ligents, Dalmasso Blanch, Marc, Domínguez Vidal, José Enrique, Torres Rodriguez, Ivan Jesús, Jiménez Schlegl, Pablo, Garrell Zulueta, Anais, Sanfeliu Cortés, Alberto |
| بيانات النشر: | Springer 2023-10-30 |
| نوع الوثيقة: | Electronic Resource |
| مستخلص: | © The Author(s) 2023 Recent research in Human Robot Collaboration (HRC) has spread and specialised in many sub-fields. Many show considerable advances, but the human–robot collaborative navigation (HRCN) field seems to be stuck focusing on implicit collaboration settings, on hypothetical or simulated task allocation problems, on shared autonomy or on having the human as a manager. This work takes a step forward by presenting an end-to-end system capable of handling real-world human–robot collaborative navigation tasks. This system makes use of the Social Reward Sources model (SRS), a knowledge representation to simultaneously tackle task allocation and path planning, proposes a multi-agent Monte Carlo Tree Search (MCTS) planner for human–robot teams, presents the collaborative search as a testbed for HRCN and studies the usage of smartphones for communication in this setting. The detailed experiments prove the viability of the approach, explore collaboration roles adopted by the human–robot team and test the acceptability and utility of different communication interface designs. Open Access funding provided thanks to the CRUE-CSIC agreement with Springer Nature. This work was supported under the Spanish State Research Agency through the Maria de Maeztu Seal of Excellence to IRI (MDM-2016-0656) and ROCOTRANSP project (PID2019- 106702RB-C21 / AEI / 10.13039/501100011033), the European research grant TERRINet (H2020-INFRAIA-2017-1-730994) and by JST Moonshot R & D Grant Number JPMJMS2011-85. Peer Reviewed Postprint (published version) |
| مصطلحات الفهرس: | Àrees temàtiques de la UPC::Informàtica::Robòtica, Human–robot collaboration, Human–robot collaborative navigation, Human–robot interaction, Multi-agent planning, Motion planning, Task representation, Object search, Classificació INSPEC::Automation::Robots, Article |
| URL: | info:eu-repo/grantAgreement/MINECO/2PE/MDM-2016-0656 info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2019-106702RB-C21/ES/COLABORACION ROBOT-HUMANO PARA EL TRANSPORTE Y ENTREGA DE MERCANCIAS info:eu-repo/grantAgreement/EC/H2020/730994/EU/The European Robotics Research Infrastructure Network/TERRINet |
| الاتاحة: | Open access content. Open access content Attribution-NonCommercial-NoDerivatives 4.0 International http://creativecommons.org/licenses/by-nc-nd/4.0 Open Access |
| ملاحظة: | application/pdf English |
| Other Numbers: | HGF oai:upcommons.upc.edu:2117/395911 Dalmasso, M. [et al.]. Shared task representation for human–robot collaborative navigation: the collaborative search case. "International journal of social robotics", 30 Octubre 2023, 1875-4805 10.1007/s12369-023-01067-0 1409474882 |
| المصدر المساهم: | UNIV POLITECNICA DE CATALUNYA From OAIster®, provided by the OCLC Cooperative. |
| رقم الانضمام: | edsoai.on1409474882 |
| قاعدة البيانات: | OAIster |
| الوصف غير متاح. |