Supervisory Control of Multiple Social Robots for Conversation and Navigation
نویسنده
چکیده
RECEIVED: 25, DEC., 2013; REVISED: 4, MAR., 2014; ACCEPTED: 27, APR., 2014; PUBLISHED: 6, JUN., 2014. ISSN: 2345-234X Abstract: This paper presents the modeling, implementation and validation of a human-robot system enabling a single operator to supervise multiple robots for social interactions with conversation and navigation. We developed a risk model for navigation, which can automatically tell when operation is necessary to enable safe navigation of unattended robots. We propose a utility model for evaluating the performance of interactions based on timings, and developed strategies and a planning algorithm to coordinate the tasks of the operator and robots for improving performance of the human-robot team. Finally, we conducted a field experiment in a shopping area using four robots for route-guiding services incorporating conversation and navigation to validate the effectiveness of our system.
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