Towards Human-Aware Cognitive Robots

Human-robot interaction requires the robot to explicitly reason on human environments and on its own capacities to achieve tasks in a collaborative way with a human partner. We have devised a decisional framework for human-robot interactive task achievement, embedded in a cognitive architecture, and that is aimed to allow the robot not only to accomplish its tasks but also to produce behaviours that support its commitment vis-a-vis its human partner and to interpret human behaviours and intentions. Together and in coherence with this framework, we develop and experiment various task planners and interaction schemes that allow the robot to select and perform its tasks while taking into account explicitly the human abilities as well as the constraints imposed by the presence of humans, their needs and preferences. We present the first results obtained by our “human-aware” task and motion planners and discuss how they can be extended.

[1]  A. Newell.  Unified Theories of Cognition , 1990 .

[2]  Hector J. Levesque,et al.  Intention is Choice with Commitment , 1990, Artif. Intell..

[3]  John E. Laird,et al.  The soar papers : research on integrated intelligence , 1993 .

[4]  E. Elkhammas.  Honesty, accepting criticism, common goals and teamwork spirit are the basics for building working teams , 2007, The Libyan journal of medicine.

[5]  Jill Fain Lehman,et al.  A Gentle Introduction to Soar, an Architecture for Human Cognition. , 1996 .

[6]  Milind Tambe,et al.  Agent Architectures for Flexible, Practical Teamwork , 1997, AAAI/IAAI.

[7]  Tucker R. Balch,et al.  AuRA: principles and practice in review , 1997, J. Exp. Theor. Artif. Intell..

[8]  Rachid Alami,et al.  An Architecture for Autonomy , 1998, Int. J. Robotics Res..

[9]  Cynthia Breazeal,et al.  A Motivational System for Regulating Human-Robot Interaction , 1998, AAAI/IAAI.

[10]  Ian Horswill.  Tagged Behavior-Based Systems: Integrating Cognition with Embodied Activity , 2001, IEEE Intell. Syst..

[11]  Philip R. Cohen,et al.  Toward A Formalism for Conversation Protocols Using Joint Intention Theory , 2002, Comput. Intell..

[12]  Dana S. Nau,et al.  SHOP2: An HTN Planning System , 2003, J. Artif. Intell. Res..

[13]  Illah R. Nourbakhsh,et al.  A survey of socially interactive robots , 2003, Robotics Auton. Syst..

[14]  Milind Tambe,et al.  A prototype infrastructure for distributed robot-agent-person teams , 2003, AAMAS '03.

[15]  Phongchai Nilas,et al.  An agent-based architecture for an adaptive human-robot interface , 2003, 36th Annual Hawaii International Conference on System Sciences, 2003. Proceedings of the.

[16]  Jeffrey M. Bradshaw,et al.  Ten Challenges for Making Automation a "Team Player" in Joint Human-Agent Activity , 2004, IEEE Intell. Syst..

[17]  Hiroshi Nakajima,et al.  Toward an actualization of social intelligence in human and robot collaborative systems , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[18]  Dana Kulic,et al.  Safe Planning for Human-Robot Interaction , 2004, ICRA.

[19]  John R Anderson,et al.  An integrated theory of the mind. , 2004, Psychological review.

[20]  Tatsuo Arai,et al.  Evaluation of human sense of security for coexisting robots using virtual reality. 1st report: evaluation of pick and place motion of humanoid robots , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[21]  Cynthia Breazeal,et al.  A simulation-theory inspired social learning system for interactive characters , 2005, ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005..

[22]  Henrik I. Christensen,et al.  Human-robot embodied interaction in hallway settings: a pilot user study , 2005, ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005..

[23]  Rachid Alami,et al.  A decisional framework for autonomous robots interacting with humans , 2005, ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005..

[24]  Rachid Alami,et al.  Navigation in the presence of humans , 2005, 5th IEEE-RAS International Conference on Humanoid Robots, 2005..

[25]  David Lee,et al.  The influence of subjects' personality traits on personal spatial zones in a human-robot interaction experiment , 2005, ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005..

[26]  Rachid Alami,et al.  Task planning for human-robot interaction , 2005, sOc-EUSAI '05.

[27]  Jean Scholtz,et al.  The Peer-to-Peer Human-Robot Interaction Project , 2005 .

[28]  Maja J. Mataric,et al.  A multi-modal approach to selective interaction in assistive domains , 2005, ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005..

[29]  J. Gregory Trafton,et al.  Perspective-taking with robots: experiments and models , 2005, ROMAN 2005. IEEE International Workshop on Robot and Human Interactive Communication, 2005..