Interactive Plan Explicability in Human-Robot Teaming

Mehrdad Zakershahrak, Akshay Sonawane, Ze Gong, Yu Zhang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

Human-robot teaming is one of the most important applications of artificial intelligence in the fast-growing field of robotics. For effective teaming, a robot must not only maintain a behavioral model of its human teammates to project the team status, but also be aware of its human teammates' expectation of itself. Being aware of the human teammates' expectation leads to robot behaviors that better align with the human expectation, thus facilitating more efficient and potentially safer teams. Our work addresses the problem of human-robot interaction with the consideration of such teammate models in sequential domains by leveraging the concept of plan explicability. In plan explicability, however, the human is considered solely as an observer. In this paper, we extend plan explicability to consider interactive settings where the human and robot's behaviors can influence each other. We term this new measure Interactive Plan Explicability (IPE). We compare the joint plan generated by our approach with the consideration of this measure using the fast forward (FF) planner, with the plan generated by FF without such consideration, as well as with the plan created with human subjects interacting with a robot running an FF planner. Since the human subject is expected to adapt to the robot's behavior dynamically when it deviates from her expectation, the plan created with human subjects is expected to be more explicable than the FF plan, and comparable to the explicable plan generated by our approach. Results indicate that the explicability score of plans generated by our algorithm is indeed closer to the human interactive plan than the plan generated by FF, implying that the plans generated by our algorithms align better with the expected plans of the human during execution. This can lead to more efficient collaboration in practice.

Original languageEnglish (US)
Title of host publicationRO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1012-1017
Number of pages6
ISBN (Electronic)9781538679807
DOIs
StatePublished - Nov 6 2018
Event27th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2018 - Nanjing, China
Duration: Aug 27 2018Aug 31 2018

Publication series

NameRO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication

Conference

Conference27th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2018
CountryChina
CityNanjing
Period8/27/188/31/18

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Cognitive Neuroscience
  • Communication
  • Artificial Intelligence

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  • Cite this

    Zakershahrak, M., Sonawane, A., Gong, Z., & Zhang, Y. (2018). Interactive Plan Explicability in Human-Robot Teaming. In RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication (pp. 1012-1017). [8525540] (RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROMAN.2018.8525540