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ROBOT 2019: Robot 2019: Fourth Iberian Robotics Conference pp 84–95Cite as

Human-Robot Collaborative Navigation Search Using Social Reward Sources

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1093))

Abstract

This paper proposes a Social Reward Sources (SRS) design for a Human-Robot Collaborative Navigation (HRCN) task: human-robot collaborative search. It is a flexible approach capable of handling the collaborative task, human-robot interaction and environment restrictions, all integrated on a common environment. We modelled task rewards based on unexplored area observability and isolation and evaluated the model through different levels of human-robot communication. The models are validated through quantitative evaluation against both agents’ individual performance and qualitative surveying of participants’ perception. After that, the three proposed communication levels are compared against each other using the previous metrics.

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Notes

  1. 1.

    http://www.iri.upc.edu/research/webprojects/pau/datasets/BRL/.

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Acknowledgements

Work supported under projects ColRobTransp (DPI2016-78957-RAEI/FEDER EU), TERRINet (H2020-INFRAIA-2017-1-two-stage-730994) and by the Spanish State Research Agency through the Maria de Maeztu Seal of Excellence to IRI (MDM-2016-0656).

Author information

Authors and Affiliations

  1. Institut de Robòtica i Informàtica Industrial (CSIC-UPC), Llorens Artigas 4-6, 08028, Barcelona, Spain

    Marc Dalmasso, Anaís Garrell, Pablo Jiménez & Alberto Sanfeliu

Authors
  1. Marc Dalmasso
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  2. Anaís Garrell
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  3. Pablo Jiménez
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  4. Alberto Sanfeliu
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Corresponding author

Correspondence to Marc Dalmasso .

Editor information

Editors and Affiliations

  1. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  2. Department of Electrical Engineering, Polytechnic Institute of Bragança, Bragança, Portugal

    José Luís Lima

  3. Faculty of Engineering, University of Porto, Porto, Portugal

    Luís Paulo Reis

  4. UPC, Universitat Politècnica de Catalunya, Barcelona, Spain

    Alberto Sanfeliu

  5. Centro Universitario de la Defensa (CUD), Zaragoza, Spain

    Danilo Tardioli

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Dalmasso, M., Garrell, A., Jiménez, P., Sanfeliu, A. (2020). Human-Robot Collaborative Navigation Search Using Social Reward Sources. In: Silva, M., Luís Lima, J., Reis, L., Sanfeliu, A., Tardioli, D. (eds) Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019. Advances in Intelligent Systems and Computing, vol 1093. Springer, Cham. https://doi.org/10.1007/978-3-030-36150-1_8

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