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Collaboration in Human-multi-robot Teams
A new FORR-based framework has been designed to support one or more robots working with a human operator in a dynamic, real-time environment. Control of the robots is shared between the human operator and a software controller, and the locus of control can switch during run-time. This work is intended to support both urban search and rescue, and humanitarian de-mining. In a collaborative system, the human operator should not be overloaded with tasks, and the robots should not be idle; the robots should help the human operator accomplish her goal, and the human operator should help the robots accomplish their goals.
R. Korpan and Epstein, S. L. 2021. Hierarchical Freespace Planning for Navigation in Unfamiliar Worlds. In Proceedings of the International Conference on Automated Planning and Scheduling (ICAPS 2021). (Vol. 31, pp. 663-672)
R. Korpan and Epstein, S. L. Plan Explanations that Exploit a Cognitive Spatial Model. In Proceedings of the Second International Combined Workshop on Spatial Language Understanding and Grounded Communication for Robotics (ACL-IJCNLP 2021).
Epstein, S. L. and R. Korpan 2020. Metareasoning and Path Planning for Autonomous Indoor Navigation. In Proceedings of the ICAPS 2020 Workshop on Integrated Execution (IntEx) / Goal Reasoning (GR).
Epstein, S. L. and R. Korpan 2019. Planning and Communication with a Learned Spatial Model. In Proceedings of 14th International Conference on Spatial Information Theory (COSIT 2019).
Aroor, A., S. L. Epstein and R. Korpan 2018. Online learning for crowd-sensitive planning. In Proceedings of AAMAS-2018, Stockholm. Nominated for best robotics paper.
Korpan, R. and S. L. Epstein 2018. Toward Natural Explanations for a Robot's Navigation Plans. In Proceedings of the Workshop on Explainable Robot Systems, HRI-2018, Chicago, IL.
Aroor, A. and S. L. Epstein 2017. Toward Crowd-Sensitive Path Planning. In Proceedings of AAAI Fall Symposium on Human-Agent Groups: Studies, Algorithms, and Challenges, Arlington, VA, AAAI.
Aroor, A., S. L. Epstein and R. Korpan 2017. MengeROS: A Crowd Simulation Tool for Autonomous Robot Navigation. In Proceedings of AAAI Fall Symposium on Artificial Intelligence for Human-Robot Interaction, Arlington, VA, AAAI.
Korpan, R., S. L. Epstein, A. Aroor and G. Dekel 2017. WHY: Natural Explanations from a Robot Navigator. In Proceedings of AAAI Fall Symposium on Natural Communication for Human-Robot Collaboration, Arlington, VA.
Epstein, S.L., Aroor, A., Evanusa, M., Sklar, E.I., Simon, S. Navigation with Learned Spatial Affordances (2015). In Proceedings of CogSci 2015. Pasadena, CA.
Epstein, S.L., A. Aroor, M. Evanusa, E. Sklar, and S. Parsons (2015). Learning Spatial Models for Navigation, In Proceedings of the Conference on Spatial Information Theory (COSIT 2015).
Epstein, S.L., A. Aroor, M. Evanusa, E.I. Sklar, and S. Parsons (2015). Spatial Abstraction for Autonomous Robot Navigation, In Proceedings of the VI International Conference on Spatial Cognition (ICSC). Springer: Rome.
Epstein, S.L., A. Aroor, M. Evanusa, E.I. Sklar, and S. Parsons (2015). Spatial Abstraction for Autonomous Robot Navigation. Cognitive Processing.
Ozgelen, A. T., E. Schneider, E. Sklar, M. Costantino, S. Epstein and S. Parsons (2013). A first step towards testing multiagent coordination mechanisms on multirobot teams. In Proceedings of AAMAS Workshop on Autonomous Robots and Multirobot Systems, Springer Verlag.
Epstein, S., E. Schneider, A. T. Ozgelen, J. P. Munoz, M. Costantineo, E. I. Sklar and S. Parsons (2012). Applying FORR to human/multi-robot teams. In Human-Agent-Robot Teamwork Workshop at 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2012).
Sklar, E. I., Epstein, S. L., Parsons, S., Ozgelen, A. T., & Munoz, J. P. (2011). A framework in which robots and humans help each other. In AAAI Symposium Help Me Help You: Bridging the Gaps in Human-Agent Collaboration, Palo Alto
Sklar, E., Ozgelen, A. T., Munoz, J. P., Gonzalez, J., Manashirov, M., Epstein, S. L., et al. (2011) Designing the HRTeam Framework: Lessons Learned from a Rough-N-Ready Human/Multi-Robot Team. ARMS. In AAAI Symposium Help Me Help You: Bridging the Gaps in Human-Agent Collaboration.
Sklar, E., Parsons, S., Epstein, S. L., Ozgelen, A. T., Rabanca, G., Anzaroo, S., et al. Developing a Framework for Team-based Robotics Research. In AAAI 2010 Robotics Exhibition and Workshop, 2010.
Sklar, E., Ozgelen, A. T., Munoz, J. P., Gonzalez, J., Manashirov, M., Epstein, S. L., et al. (2011). Designing the HRTeam Framework: Lessons Learned from a Rough-'N-Ready Human/Multi-Robot Team. In Proceeding of the Autonomous Robots and Multirobot Systems Workshop.
This material is based upon work supported by the National Science Foundation under Grant No. ISS-1117000 and by the PSC-CUNY Research Foundation under Grant No. 1515.
Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation or PSC-CUNY.
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