Instrumentation for Research on Planning for Human-Robot Teaming in Open Worlds Instrumentation for Research on Planning for Human-Robot Teaming in Open Worlds Project Abstract In this proposal, we request instrumentation funds in the context of ongoing ARO and ONR supported research on the challenges of planning for human-robot teaming in open worlds. An increasing number of military applications demand that humans and robots/machines team and work together over long periods to solve complex problems over dynamic and uncertain worlds. Examples of such applications include search and rescue scenarios, military operations on battlefields and etc. With support from two DOD projects funded by ARO (by grant W911NF-13-1-0023) and ONR (by grant N0014-13-1-0519), respectively, we are working towards understanding the challenges faced by planners that guide both human and robot agents in such teaming scenarios, and to develop effective frameworks for handling those challenges. The challenges stem from the long-term nature of teaming tasks, the open nature of the world and objectives, as well as the incompleteness in the domain models and the understanding of the other agents capabilities. Although we have been making significant progress on developing effective planning algorithms for human-robot teaming, for their validation, we have so far been relying on limited instrumentation (i.e., two Nao robots), and ongoing collaboration with other research groups within and across universities. We believe that our progress on these projects can be significantly enhanced with modest funds for additional instrumentation. We thus request for funds to purchase three robots. Specifically, we request funds for two PeopleBots from Adept MobileRobots and a Baxter robot from Rethink Robotics. We anticipate using the PeopleBots in both our remote and proximal human-robot teaming projects, and Baxter mainly in proximal human-robot teaming tasks. The proposed robots are anticipated to not only complement our current hardware platforms, but also enable us to focus on issues that arise in multi-agent scenarios in addition to peer-to-peer ones. This enhanced instrumentation will also have significant educational impacts. In particular, our experience with the Nao robots in the context of our ARO HSAP/URAP grant convinced us that there are several exciting mini-projects within the context of our ongoing projects that the undergraduate students will be excited to participate in.
|Effective start/end date||8/1/14 → 7/30/16|
- DOD-ARMY-ARL: Army Research Office (ARO): $112,864.00
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