HARMONIC: Cognitive and Control Collaboration in Human-Robotic Teams
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arXiv
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| Autori principali: | , , , , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866916835202433024 |
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| author | Oruganti, Sanjay Nirenburg, Sergei McShane, Marjorie English, Jesse Roberts, Michael K. Arndt, Christian Kamireddy, Sahithi Gonzalez, Carlos Seo, Mingyo Sentis, Luis |
| author_facet | Oruganti, Sanjay Nirenburg, Sergei McShane, Marjorie English, Jesse Roberts, Michael K. Arndt, Christian Kamireddy, Sahithi Gonzalez, Carlos Seo, Mingyo Sentis, Luis |
| contents | This paper describes HARMONIC, a cognitive-robotic architecture that integrates the OntoAgent cognitive framework with general-purpose robot control systems applied to human-robot teaming (HRT). HARMONIC incorporates metacognition, meaningful natural language communication, and explainability capabilities required for developing mutual trust in HRT. Through simulation experiments involving a joint search task performed by a heterogeneous team of two HARMONIC-based robots and a human operator, we demonstrate heterogeneous robots that coordinate their actions, adapt to complex scenarios, and engage in natural human-robot communication. Evaluation results show that HARMONIC-based robots can reason about plans, goals, and team member attitudes while providing clear explanations for their decisions, which are essential requirements for realistic human-robot teaming. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_18047 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | HARMONIC: Cognitive and Control Collaboration in Human-Robotic Teams Oruganti, Sanjay Nirenburg, Sergei McShane, Marjorie English, Jesse Roberts, Michael K. Arndt, Christian Kamireddy, Sahithi Gonzalez, Carlos Seo, Mingyo Sentis, Luis Robotics Artificial Intelligence Multiagent Systems This paper describes HARMONIC, a cognitive-robotic architecture that integrates the OntoAgent cognitive framework with general-purpose robot control systems applied to human-robot teaming (HRT). HARMONIC incorporates metacognition, meaningful natural language communication, and explainability capabilities required for developing mutual trust in HRT. Through simulation experiments involving a joint search task performed by a heterogeneous team of two HARMONIC-based robots and a human operator, we demonstrate heterogeneous robots that coordinate their actions, adapt to complex scenarios, and engage in natural human-robot communication. Evaluation results show that HARMONIC-based robots can reason about plans, goals, and team member attitudes while providing clear explanations for their decisions, which are essential requirements for realistic human-robot teaming. |
| title | HARMONIC: Cognitive and Control Collaboration in Human-Robotic Teams |
| topic | Robotics Artificial Intelligence Multiagent Systems |
| url | https://arxiv.org/abs/2409.18047 |