In this paper, we focus on human-robot interaction in a team task where we identify the need for peer-to-peer (P2P) teamwork among robots and humans. We define a P2P team as one where there is no fixed hierarchy for decision making. Instead, all team members are equal participants and decision making is truly distributed. We have fully developed a P2P team within Segway Soccer, a research domain that we have introduced to explore the challenge of P2P coordination in human-robot teams in dynamic, adversarial tasks. Segway soccer builds upon RoboCup robot soccer, a research domain with standardized tasks for comparing multi-robot team strategies. We recently participated in the first Segway Soccer games between two competing teams at the 2005 RoboCup US Open. We believe these games are the first ever between two human-robot P2P teams. Based on the competition, we realized two different approaches to P2P teams. We present our robot-centric approach to P2P team coordination and contrast it to the human-centric approach of the opponent team. Based on our analysis, we recommend a set of further refinements to the Segway Soccer domain to foster more effective P2P teams.
|
360
|
A tutorial on particle filters for online nonlinear/non-gaussian bayesian tracking
– Arulampalam, Maskell, et al.
- 2002
|
|
247
|
an architecture for fault-tolerant multi-robot cooperation
– Parker
|
|
127
|
Interaction and Intelligent Behavior
– Mataric
- 1994
|
|
84
|
The RoboCup Synthetic Agent Challenge, 97
– Kitano, Tambe, et al.
- 1997
|
|
50
|
Multi-robot task allocation: Analyzing the complexity and optimality of key architectures
– Gerkey, Matarić
|
|
40
|
Real-time randomized path planning for robot navigation
– Bruce, Veloso
|
|
39
|
Natural methods for robot task learning: Instructive demonstrations, generalization and practice
– Nicolescu, Matarić
- 2003
|
|
32
|
Opportunistic optimization for market-based multi-robot control
– Dias, Stentz
- 2002
|
|
29
|
Market-based multirobot coordination: a survey and analysis
– Dias, Zlot, et al.
- 2005
|
|
27
|
Map-based multiple model tracking of a moving object
– Kwok, Fox
- 2004
|
|
21
|
Behavior-Based Formation Control for Multiagent Robot Teams
– Balch, Arkin
- 1998
|
|
14
|
Designing robots for longterm social interaction
– Gockley, Bruce, et al.
- 2005
|
|
13
|
Tightly-coupled navigation assistance in heterogeneous multi-robot teams
– Parker, Kannan, et al.
- 2004
|
|
12
|
Individual and collaborative behaviors in a team of homogeneous robotic soccer agents
– Veloso, Stone
- 1998
|
|
10
|
Segway robotic mobility platform
– Nguyen, Morrell, et al.
- 2004
|
|
8
|
Flexible teamwork in behavior-based robots
– Kaminka, Frenkel
- 2005
|
|
8
|
Dynamic multi-robot coordination
– Vail, Veloso
- 2003
|
|
7
|
Development of a soccer-playing dynamically-balancing mobile robot
– Browning, Rybski, et al.
- 2004
|
|
7
|
Tactic-based motion modelling and multi-sensor tracking
– Gu
- 2005
|
|
6
|
Turning segways into soccer robots
– Searock, Browning, et al.
- 2004
|
|
6
|
Brain-based devices: Intelligent systems based on principles of the nervous sytem
– Krichmar, Edelman
- 2003
|
|
6
|
The Design of a Highly Reliable Robot for Unmediated Museum Interaction
– Nourbakhsh, Hamner, et al.
- 2005
|
|
4
|
Preliminary Results in Sliding Autonomy for Assembly by Coordinated Teams
– Brookshire, Singh, et al.
|
|
4
|
Segwayrmp robot football league rules
– Veloso, Browning, et al.
- 2005
|
|
4
|
Real-time, adaptive color-based robot vision
– Browning, Veloso
- 2005
|
|
4
|
Decentralized communication strategies for coordinated multi-agent policies
– Roth, Simmons, et al.
- 2005
|
|
4
|
Skill acquisition and use for a dynamically-balancing soccer robot
– Browning, Xu, et al.
- 2004
|
|
2
|
and Katia Sycara. Scaling teamwork to very large teams
– Scerri, Xu, et al.
- 2004
|
|
2
|
Turning segways into robust human-scale dynamically balanced soccer robots
– Searock, Browning, et al.
- 2004
|
|
1
|
Robonaut: A telepresence base astronaut’s assistant
– Jenks, Williams
- 2001
|
|
1
|
Illah Nourbakhsh, and Katia Sycara. Heterogeneous multirobot coordination with spatial and temporal constraints
– Koes
|
|
1
|
Satoshi Tadokoro. An overview of robocup-2002 fukuoka/busan
– Asada, Sklar, et al.
|
