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Proceedings Paper

Supporting task-oriented collaboration in human-robot teams using semantic-based path planning
Author(s): Daqing Yi; Michael A. Goodrich
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Paper Abstract

Improvements in robot autonomy are changing the human-robot interaction from low-level manipulation to high-level task-based collaboration. For a task-oriented collaboration, a human assigns sub-tasks to robot team members. In this paper, we consider task-oriented collaboration of humans and robots in a cordon and search problem. We focus on a path-planning framework with natural language input. By the semantic elements in a shared mental model, a natural language command can be converted into optimization objectives. We import multi-objective optimization to facilitate modeling the “adverb” elements in natural language commands. Finally, human interactions are involved in the optimization search process in order to guarantee that the found solution correctly reflects the human’s intent.

Paper Details

Date Published: 3 June 2014
PDF: 8 pages
Proc. SPIE 9084, Unmanned Systems Technology XVI, 90840D (3 June 2014); doi: 10.1117/12.2050718
Show Author Affiliations
Daqing Yi, Brigham Young Univ. (United States)
Michael A. Goodrich, Brigham Young Univ. (United States)


Published in SPIE Proceedings Vol. 9084:
Unmanned Systems Technology XVI
Robert E. Karlsen; Douglas W. Gage; Charles M. Shoemaker; Grant R. Gerhart, Editor(s)

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