Using human knowledge awareness to adapt collaborative plan generation, explanation and monitoring
| Autor: | Milliez, Grégoire, Lallement, Raphaël, Fiore, Michelangelo, Rachid Alami |
|---|---|
| Přispěvatelé: | Équipe Robotique et InteractionS (LAAS-RIS), Laboratoire d'analyse et d'architecture des systèmes (LAAS), Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées-Université Fédérale Toulouse Midi-Pyrénées-Centre National de la Recherche Scientifique (CNRS)-Université Toulouse III - Paul Sabatier (UT3), Université Fédérale Toulouse Midi-Pyrénées-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université Fédérale Toulouse Midi-Pyrénées-Université Toulouse - Jean Jaurès (UT2J)-Université Toulouse 1 Capitole (UT1), Université Fédérale Toulouse Midi-Pyrénées, ANR-12-CORD-0021,MaRDi,Dialogue Homme-Robot(2012), European Project: 600877,EC:FP7:ICT,FP7-ICT-2011-9,SPENCER(2013), Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT)-Université de Toulouse (UT)-Institut National des Sciences Appliquées - Toulouse (INSA Toulouse), Institut National des Sciences Appliquées (INSA)-Université de Toulouse (UT)-Institut National des Sciences Appliquées (INSA)-Université Toulouse - Jean Jaurès (UT2J), Université de Toulouse (UT)-Université Toulouse III - Paul Sabatier (UT3), Université de Toulouse (UT)-Centre National de la Recherche Scientifique (CNRS)-Institut National Polytechnique (Toulouse) (Toulouse INP), Université de Toulouse (UT)-Université Toulouse Capitole (UT Capitole), Université de Toulouse (UT) |
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
020901 industrial engineering & automation [SHS.INFO]Humanities and Social Sciences/Library and information sciences 0202 electrical engineering electronic engineering information engineering [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO] 020201 artificial intelligence & image processing 02 engineering and technology [INFO.INFO-AI]Computer Science [cs]/Artificial Intelligence [cs.AI] |
| Zdroj: | 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2016) 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2016), Mar 2016, Christchurch, New Zealand. pp.43-50 HAL BASE-Bielefeld Academic Search Engine |
| DOI: | 10.1109/hri.2016.7451732 |
| Popis: | International audience; One application of robotics is to assist humans in the achievement of tasks they face in both the workplace and domestic environments. In some situations, a task may require the robot and the human to act together in a collaborative way in order to reach a common goal. To achieve a collaborative plan, each agent (human, robot) needs to be aware of the tasks she/he must carry out and how to perform them. This paper addresses the issue of enhancing a robotic system with a dynamic model of its collaborator's knowledge concerning tasks of a shared plan. Using this model, the robot is able to adapt its collaborative plan generation, its abilities to give explanations and to monitor the overall plan execution. We present the algorithm we have elaborated to take advantage of the tree representation of our Hierarchical Task Network (HTN) planner to enhance the robot with appropriate explanation and execution monitoring abilities. To evaluate how our adaptive system is perceived by users and how much it improves the quality of the Human-Robot interaction, the outcome of a comparative study is presented. |
| Databáze: | OpenAIRE |
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