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

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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cognitive robotics