Instrumentation for Research on Planning for Peer-to-Peer Human-Robot Teaming
Abstract
An increasing number of military applications, including search and rescue and battlefield operations, demand that humans and robots/machines "team" and work together over long periods to solve complex problems over dynamic and uncertain worlds. With support from the project funded by ONR (by grant N0014-13-1-0519), we are working towards understanding the challenges faced by planners that guide both human and robot agents in such teaming scenarios, and to develop effective frameworks for handling those challenges. The challenges stem not only from the long-term nature of teaming tasks, the open nature of the world and objectives, and incomplete domain knowledge, but also from the partial understanding of each other s model and interaction challenges between humans and robots. Although we have been making significant progress on developing effective planning algorithms for human-robot teaming using the lessons from human-human "Wizard of Oz" studies, we believe that the project will benefit significantly with direct human-robot teaming studies. We thus request for funds to purchase one PR2 robot from Willow Garage. We anticipate using the PR2 robot in human-robot teaming project to extend our research directions on planning with human in the loop, as well as human factor studies to improve human-robot interaction. The PR2 robot is anticipated to significantly complement our current hardware platforms by providing a robot that combines a mobile platform with perception, multi-modality interaction, and manipulation capabilities. Furthermore, the robot will also enable us to focus on issues that arise in multi-agent scenarios in addition to peer-to-peer ones. This enhanced instrumentation will also have significant educational impacts. In particular, our experience with the Nao robots in the context of our ARO HSAP/URAP grant convinced us that there are several exciting mini-projects within the context of our ongoing projects that the undergraduate students will be excited to participate in.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Aug 08, 2016
- Source ID
- N000141512849
Entities
People
- Subbarao Kambhampati
Organizations
- Arizona State University
- Office of Naval Research
- United States Navy