TitleSpatial Representation and Reasoning for Human-Robot Collaboration
Publication TypeConference Paper
Year of Publication2007
AuthorsKennedy, WG, Bugajska, MD, Marge, M, Adams, W, Fransen, BR, Perzanowski, D, Schultz, AC, Trafton, JG
Conference NameProceedings of the Twenty-Second Conference on Artificial Intelligence
PublisherAAAI Press
Conference LocationVancouver
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.

Full Text
pdf: 
http://www.nrl.navy.mil/itd/aic/sites/www.nrl.navy.mil.itd.aic/files/pdfs/kennedy.stealth.aaai07.pdf
NRL Publication Release Number: 
07-1226-0440
pub_tags: 
HRI
cognitive robotics
perspective