- Advances in robotics research bring robots closer to real world applications. Although robots have become increasingly capable, productive interaction is still restricted to specialists in the field. A major challenge in designing robots for real-world applications is to enable natural and accessible interaction between robots and nontechnical users, while ensuring long-term, robust performance in complex environments without the direct control of a human operator.
- The goal of this project is to develop a control architecture that provides robots with social-awareness, allowing them to monitor their surroundings for other social agents (robots or people), detect their need for interaction, and respond appropriately. Our architecture provides means for long-term autonomy, enabling robots to manage a large repertoire of tasks over extended periods. Additionally, our system is designed for realistic assistive applications, where multiple people may be simultaneously competing for the robot’s assistance. The contribution of this work is our framework that addresses two key issues in human-robot interaction: awareness of the environment and other agents, and long-term interaction with multiple users.
- Bradford Towle Jr, and Monica Nicolescu, "An Auction Behavior-Based Robotic Architecture for Service Robotics", in Intelligent Service Robotics, 1-18, 2014. [PDF] [LINK]
- Bradford Towle, Monica N. Nicolescu, "Incorporating a Reusable Human Robot Interface with an Auction Behavior-Based Robotic Architecture", in IEEE, ACM 4th International Workshop on Collaborative Robots and Human Robot Interaction, pp. 203 - 209, 2013. [PDF] [Link]
- Bradford Towle, Monica Nicolescu, "Real-World Implementation of an Auction Behavior-Based Robotic Architecture (ABBRA)", in Proceedings of the IEEE International Conference on Technologies for Practical Robot Applications (TePRA), 2012. [Link]
- Bradford A. Towle Jr. and Monica Nicolescu, "Applying Dynamic Conditions to the Auction Behavior-Based Robotic Architecture", in Proceedings of International Conference on Artificial Intelligence, Las Vegas, NV, July 18-21, 2011. [PDF]
- Richard Kelley, Monica Nicolescu, Mircea Nicolescu, "Grammar-Based Robot Control", Proceedings of the International Conference on Autonomous Agents and Multiagent Systems, Budapest, Hungary, pages 1153-1154, May, 2009. [PDF] [LINK]
- Christopher King, Xavier Palathingal, Monica Nicolescu, Mircea Nicolescu, "A Vision-Based Architecture for Long-Term Human-Robot Interaction", in Proceedings, the IASTED International Conference on Human Computer Interaction, Chamonix, France, March 14-16, 2007.[PDF]
- Christopher King, Xavier Palathingal, Monica Nicolescu, Mircea Nicolescu, "A Control Architecture for Long-Term Autonomy of Robotic Assistants", Proceedings of the International Symposium on Visual Computing, pages 375-384, Lake Tahoe, Nevada, November 2007. [PDF]
- Long-term interaction with a service robot; tasks are serviced based on priority, using different postures [MOV] (18.9Mb).
- This work is supported by the National Science Foundation under Award IIS-0546876 and by the Office of Naval Research under grant number N00014-05-1-0525.