Abstract
This paper proposes a model of metareasoning for Human-Robot Interaction (HRI). Robots’ basic abilities for HRI—planning, learning and dialogue—are characterized as three loops in the model, with each spanning ground, object and meta-level. The model provides a conceptualization of HRI and a framework for incremental development of large HRI systems such as service robots by building meta-level functions on top of existing ground/object level components. A case-study focusing on meta-level control shows that the approach is effective and efficient for some application domains. In particular, meta-level control suggests a new opportunity to speed up planning while preserving completeness without any change to object level planners. The experiments also show that, for some basic HRI tasks, there are simple meta-level strategies with performances better than the common strategy in previous work.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Asoh, H., Motomura, Y., Asano, F., Hara, I., Hayamizu, S., Itou, K., Kurita, T., Matsui, T., Vlassis, N., Bunschoten, R., et al.: Jijo-2: An office robot that communicates and learns. IEEE Intelligent Systems 16(5), 46–55 (2001)
Bauer, A., Wollherr, D., Buss, M.: Human-robot collaboration: A survey. International Journal of Humanoid Robotics 5(1), 47–66 (2008)
Brenner, M., Nebel, B.: Continual planning and acting in dynamic multiagent environments. Autonomous Agents and Multi-Agent Systems 19(3), 297–331 (2009)
Carlin, A., Zilberstein, S.: Decentralized monitoring of distributed anytime algorithms. In: Proceedings of the 10th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2011), pp. 157–164 (2011)
Chen, X., Ji, J., Jiang, J., Jin, G., Wang, F., Xie, J.: Developing high-level cognitive functions for service robots. In: Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2010), pp. 989–996 (2010)
Chen, X., Jiang, J., Ji, J., Jin, G., Wang, F.: Integrating nlp with reasoning about actions for autonomous agents communicating with humans. In: Proceedings of the 2009 IEEE/WIC/ACM International Joint Conference on Web Intelligence and Intelligent Agent Technology (IAT 2009), pp. 137–140 (2009)
Cox, M., Raja, A.: Metareasoning: A manifesto. Technical Memo 2028, BBN (2008)
Fong, T., Thorpe, C., Baur, C.: Robot, asker of questions. Robotics and Autonomous Systems 42(3-4), 235–243 (2003)
Fong, T.W., Thorpe, C., Baur, C.: Collaboration, dialogue, and human-robot interaction. In: Proceedings of the 10th International Symposium of Robotics Research, pp. 255–266. Springer (November 2001)
Ghallab, M., Howe, A., Christianson, D., McDermott, D., Ram, A., Veloso, M., Weld, D., Wilkins, D.: Pddl—the planning domain definition language. In: AIPS 1998 Planning Committee, vol. 78(4), pp. 1–27 (1998)
Kaupp, T., Makarenko, A., Durrant-Whyte, H.: Human-robot communication for collaborative decision making–a probabilistic approach. Robotics and Autonomous Systems 58(5), 444–456 (2010)
Nardi, D., Dessimoz, J., Dominey, P., Iocchi, L., Rybski, P., Savage, J., Schiffer, S., Wisspeintner, T., van der Zant, T., Yazdani, A.: Robocup@home: Rules and regulations (2008)
Rosenthal, S., Biswas, J., Veloso, M.: An effective personal mobile robot agent through symbiotic human-robot interaction. In: Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2010), pp. 915–922 (2010)
Rosenthal, S., Veloso, M.M., Dey, A.K.: Learning accuracy and availability of humans who help mobile robots. In: Proceedings of the 25th AAAI Conference on Artificial Intelligence (AAAI 2011), pp. 1501–1506 (2011)
Thrun, S.: Toward a framework for human-robot interaction. Human–Computer Interaction 19(1-2), 9–24 (2004)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Chen, X., Sui, Z., Ji, J. (2013). Towards Metareasoning for Human-Robot Interaction. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 194. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33932-5_34
Download citation
DOI: https://doi.org/10.1007/978-3-642-33932-5_34
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33931-8
Online ISBN: 978-3-642-33932-5
eBook Packages: EngineeringEngineering (R0)