Spatial Representation and Reasoning for Human-Robot Collaboration

Abstract

How should a robot represent and reason about spatial information when it needs to collaborate effectively with a human? The form of spatial representation that is useful for robot navigation may not be useful in higher-level reasoning or working with humans as a team member. To explore this question, we have extended previous work on how children and robots learn to play hide and seek to a human-robot team covertly approaching a moving target. We used the cognitive modeling system, ACT-R, with an added spatial module to support the robot's spatial reasoning. The robot interacted with a team member through voice, gestures, and movement during the team's covert approach of a moving target. This paper describes the new robotic system and its integration of metric, symbolic, and cognitive layers of spatial representation and reasoning for its individual and team behavior.

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Document Details

Document Type
Technical Report
Publication Date
Jul 01, 2007
Accession Number
ADA480260

Entities

People

  • Alan C. Schultz
  • Benjamin R. Fransen
  • Dennis J. Perzanowski
  • J. Gregory Trafton
  • Magdalena D. Bugajska
  • Matthew Marge
  • William Adams
  • William G. Kennedy

Organizations

  • United States Naval Research Laboratory

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Automated Speech Recognition
  • Cameras
  • Cognitive Science
  • Collision Avoidance
  • Human-Machine Interaction
  • Human-Robot Interaction
  • Military Research
  • Natural Language Processing
  • Navigation
  • Psychology
  • Reasoning
  • Recognition
  • Robots
  • Targets
  • Teamwork

Fields of Study

  • Computer science

Readers

  • Artificial Intelligence
  • Organizational Process Management (OPM).
  • Sensor Fusion and Tracking Systems.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Human-Robot Interaction