Solving a Maze: Experimental Exploration on Wayfinding Behavior for Cognitively Enhanced Collaborative Control
The work described in this paper stems from the Cognitive Wheelchair Project - an effort to build a cognitively enhanced collaborative control architecture for an intelligent wheelchair. A number of challenges arises when developing such a system including ensuring indiscernibility of assistance provided by the system i.e., user unable to realize so easily that he is getting help. In this paper, our focus is primarily on design of such a reactive navigator for collaborative control of an intelligent wheelchair. Under conditions attuned to replicate the scenarios available to the wheelchair, we conducted a series of maze solving experiments. A set of design elements were extracted from the wayfinding experiment leading to the finite state machine (FSM) characterizing the reactive navigator. The FSM arrived at through such an exercise is expected to emulate the cognitive processes of human wayfinding under environment conditions as perceivable to an intelligent wheelchair and ensure indiscernibility of assistance.
KeywordsCognitive modelling Collaborative control
Unable to display preview. Download preview PDF.
- 1.Anderson, J., Lebierel, C.: The newell test for a theory of cognition. Behav. Brain Sci. 26, 587–637 (2003)Google Scholar
- 6.Fong, T.: Collaborative Control: A Robot-Centric Model for Vehicle Teleoperation. Ph.D Thesis, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA (2001)Google Scholar
- 7.Golledge, R.G.: Human wayfinding and cognitive maps. In: Golledge, R.C. (ed.) Wayfinding Behavior: Cognitive Mapping and Other Spatial Process, pp. 5–45. The John Hopkins University Press (1999)Google Scholar
- 9.Hopcroft, J.E., Ullman, J.D.: Introduction to Automata Theory, Languages and Computation. Addison - Wesley (1979)Google Scholar
- 10.Raubal, M., Egenhofer, M.: Comparing the complexity of wayfinding tasks in built environments. Environmental Psychology B 25(6), 895–913 (1998)Google Scholar
- 12.Schultz, A.C.: Using computational cognitive models to build better human-robot interaction. In: NAE US FOE SymposiumGoogle Scholar
- 14.Tenbrink, T., Bergmann, E., Konieczny, L.: Wayfinding and description strategies in an unfamiliar complex building. In: Proc. of the CogSci 2011 (2011)Google Scholar