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Development environments for autonomous mobile robots: A survey
- Autonomous Robots
, 2007
"... Robotic Development Environments (RDEs) have come to play an increasingly important role in robotics research in general, and for the development of architectures for mobile robots in particular. Yet, no systematic evaluation of available RDEs has been performed; establishing a comprehensive list of ..."
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Robotic Development Environments (RDEs) have come to play an increasingly important role in robotics research in general, and for the development of architectures for mobile robots in particular. Yet, no systematic evaluation of available RDEs has been performed; establishing a comprehensive list of evaluation criteria targeted at robotics applications is desirable that can subsequently be used to compare their strengths and weaknesses. Moreover, there are no practical evaluations of the usability and impact of a large selection of RDEs that provides researchers with the information necessary to select an RDE most suited to their needs, nor identifies trends in RDE research that suggest directions for future RDE development. This survey addresses the above by selecting and describing nine open source, freely available RDEs for mobile robots, evaluating and comparing them from various points of view. First, based on previous work concerning agent systems, a conceptual framework of four broad categories is established, encompassing the characteristics and capabilities that an RDE supports. Then, a practical evaluation of RDE usability in designing, implementing, and executing robot architectures is presented. Finally, the impact of specific RDEs on the field of robotics is addressed by providing a list of published applications and research projects that give concrete examples of areas in which systems have been used. The comprehensive evaluation and comparison of the nine RDEs concludes with suggestions of how to use the results of this survey and a brief discussion of future trends in RDE design. 1
M.: Incremental natural language processing for HRI
- In: Proceeding of the ACM/IEEE international conference on Human-Robot Interaction (HRI’07). (2007) 263 – 270
"... All in-text references underlined in blue are linked to publications on ResearchGate, letting you access and read them immediately. ..."
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All in-text references underlined in blue are linked to publications on ResearchGate, letting you access and read them immediately.
First Steps toward Natural Human-Like HRI
"... Natural human-like human-robot interaction (NHL-HRI) requires the robot to be skilled both at recognizing and producing many subtle human behaviors, often taken for granted by humans. We suggest a rough division of these requirements for NHL-HRI into three classes of properties: (1) social behaviors ..."
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Cited by 29 (21 self)
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Natural human-like human-robot interaction (NHL-HRI) requires the robot to be skilled both at recognizing and producing many subtle human behaviors, often taken for granted by humans. We suggest a rough division of these requirements for NHL-HRI into three classes of properties: (1) social behaviors, (2) goal-oriented cognition, and (3) robust intelligence, and present the novel DIARC architecture for complex affective robots for human-robot interaction, which aims to meet some of those requirements. We briefly describe the functional properties of DIARC and its implementation in our ADE system. Then we report results from human subject evaluations in the laboratory as well as our experiences with the robot
Brainput: Enhancing Interactive Systems with Streaming fNIRS Brain Input
"... This paper describes the Brainput system, which learns to identify brain activity patterns occurring during multitasking. It provides a continuous, supplemental input stream to an interactive human-robot system, which uses this information to modify its behavior to better support multitasking. This ..."
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Cited by 23 (13 self)
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This paper describes the Brainput system, which learns to identify brain activity patterns occurring during multitasking. It provides a continuous, supplemental input stream to an interactive human-robot system, which uses this information to modify its behavior to better support multitasking. This paper demonstrates that we can use non-invasive methods to detect signals coming from the brain that users naturally and effortlessly generate while using a computer system. If used with care, this additional information can lead to systems that respond appropriately to changes in the user's state. Our experimental study shows that Brainput significantly improves several performance metrics, as well as the subjective NASA-Task Load Index scores in a dualtask human-robot activity. Author Keywords fNIRS; near-infrared spectroscopy; multitasking; brain computer interface; human-robot interaction ACM Classification Keywords H.5.m. Information interfaces and presentation (e.g., HCI):
C.: Robot social presence and gender: Do females view robots differently than males
- In Proceedings of the Third ACM IEEE International Conference on Human-Robot Interaction
, 2008
"... Social-psychological processes in humans will play an impor-tant role in long-term human-robot interactions. This study investigates people’s perceptions of social presence in robots during (relatively) short interactions. Findings indicate that males tend to think of the robot as more human-like an ..."
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Cited by 15 (4 self)
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Social-psychological processes in humans will play an impor-tant role in long-term human-robot interactions. This study investigates people’s perceptions of social presence in robots during (relatively) short interactions. Findings indicate that males tend to think of the robot as more human-like and ac-cordingly show some evidence of “social facilitation ” on an arithmetic task as well as more socially desirable responding on a survey administered by a robot. In contrast, females saw the robot as more machine-like, exhibited less socially desirable responding to the robot’s survey, and were not socially facilitated by the robot while engaged in the arith-metic tasks. Various alternative accounts of these findings are explored and the implications of these results for future work are discussed.
P.: Investigating Multimodal Real-Time Patterns of Joint Attention
- in an HRI Word Learning Task. In: 5th ACM/IEEE International Conference on Human-Robot Interaction (2010
"... Abstract—Joint attention – the idea that humans make inferences from observable behaviors of other humans by attending to the objects and events that these others humans attend to – has been recognized as a critical component in human-robot interactions. While various HRI studies showed that having ..."
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Abstract—Joint attention – the idea that humans make inferences from observable behaviors of other humans by attending to the objects and events that these others humans attend to – has been recognized as a critical component in human-robot interactions. While various HRI studies showed that having robots to behave in ways that support human recognition of joint attention leads to better behavioral outcomes on the human side, there are no studies that investigate the detailed time course of interactive joint attention processes. In this paper, we present the results from an HRI study that investigates the exact time course of human multi-modal attentional processes during an HRI word learning task in an unprecedented way. Using novel data analysis techniques, we are able to demonstrate that the temporal details of human attentional behavior are critical for understanding human expectations of joint attention in HRI and that failing to do so can force humans into assuming unnatural behaviors. Keywords-human-robot interaction; joint attention I.
Diarc: A testbed for natural human-robot interaction
- in AAAI, 2006
"... DIARC, a distributed integrated affect, reflection, cognition architecture for robots, provides many features that are criti-cal to successful natural human-robot interaction. As such, DIARC is an ideal platform for experimentation in HRI. In this paper we describe the architecture and and its imple ..."
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Cited by 5 (2 self)
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DIARC, a distributed integrated affect, reflection, cognition architecture for robots, provides many features that are criti-cal to successful natural human-robot interaction. As such, DIARC is an ideal platform for experimentation in HRI. In this paper we describe the architecture and and its implemen-tation in ADE, paying particular attention to its interaction capabilities and features that allow robust operation. These features are evaluated in the context of the 2006 AAAI Robot Competition.
ADE: A framework for robust complex robotic architectures
- in IROS 2006, Bejing
, 2006
"... Abstract — Robots that can interact naturally with humans require the integration and coordination of many different components with heavy computational demands. We argue that an architecture framework with facilities for dynamic, reliable, faultrecovering, remotely accessible, distributed computing ..."
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Abstract — Robots that can interact naturally with humans require the integration and coordination of many different components with heavy computational demands. We argue that an architecture framework with facilities for dynamic, reliable, faultrecovering, remotely accessible, distributed computing is needed for the development and operation of applications that support and enhance human activities and capabilities. We describe a robotic architecture development system, called ADE, that is built on top of a multi-agent system in order to provide all of the above features. Specifically, we discuss support for autonomic computing in ADE, briefly comparing it to related features of other commonly used robotic systems. We also report our experiences with ADE in the development of an architecture for an intelligent robot assistant and provide experimental results demonstrating the system’s utility. I.
Reflection and Reasoning Mechanisms for Failure Detection and Recovery in a Distributed Robotic Architecture for Complex Robots
, 2007
"... Complex robots that interact naturally with humans require the integration, coordination and maintenance of many diverse software components and algorithms. An architecture that incorporates explicit knowledge about the relationships among these components and the overall system state can be used f ..."
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Cited by 5 (0 self)
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Complex robots that interact naturally with humans require the integration, coordination and maintenance of many diverse software components and algorithms. An architecture that incorporates explicit knowledge about the relationships among these components and the overall system state can be used for introspection and consequently to reason about the best configurations of the computing environment under changing conditions; potential uses include maintaining the system’s integrity, promoting its health, and providing the ability to dynamically reconfigure system components (e.g., after component failure). In this paper, we describe a rudimentary reasoning system, part of our Distributed Integrated Affect Reflection Cognition (DIARC) architecture for human-robot interaction, that can autonomously perform failure detection, failure recovery, and system reconfiguration of distributed architectural components to ensure sustained operation and interactions. We demonstrate the functionality and utility of the proposed mechanisms on a robot, where architectural components are forcefully removed by hand and automatically recovered by the system while the robot is continuing its interactions with humans as part of a joint human-robot task.
Subjective Objectivity: Negotiating Emotional Meaning
"... Affective computing systems face challenges in relating objective measures with subjective human experiences. Many systems have either focused on objective measures as a substitute for subjective experience (e.g. skin conductance as a direct representation of arousal) or have abandoned objective mea ..."
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Affective computing systems face challenges in relating objective measures with subjective human experiences. Many systems have either focused on objective measures as a substitute for subjective experience (e.g. skin conductance as a direct representation of arousal) or have abandoned objective measures to focus purely on subjective experience. In this paper, we explore how to negotiate the relationship between objective signals and subjective experiences by highlighting the role of human interpretation. Our approach is informed by a reflective analysis drawing on the arts and the humanities and by a participatory study examining the emergence of emotional meaning. We demonstrate the potential of our approach for interactive affective systems through a series of conceptual designs that embody these understandings.