拡張現実を介した交渉ベースの人間-ロボット協調
Negotiation-based Human-Robot Collaboration via Augmented Reality
ARインターフェースで人間とロボットの意思疎通を支援し、交渉ベースの協調フレームワークを構築。配送タスク実験でタスク完了時間を短縮した。
著者: Kishan Chandan, Vidisha Kudalkar, Xiang Li, Shiqi Zhang
分類: cs.RO, cs.MA
原文アブストラクト
Effective human-robot collaboration (HRC) requires extensive communication among the human and robot teammates, because their actions can potentially produce conflicts, synergies, or both. We develop a novel augmented reality (AR) interface to bridge the communication gap between human and robot teammates. Building on our AR interface, we develop an AR-mediated, negotiation-based (ARN) framework for HRC. We have conducted experiments both in simulation and on real robots in an office environment, where multiple mobile robots work on delivery tasks. The robots could not complete the tasks on their own, but sometimes need help from their human teammate, rendering human-robot collaboration necessary. Results suggest that ARN significantly reduced the human-robot team's task completion time compared to a non-AR baseline approach.
