TY - GEN
T1 - Projection-Aware Task Planning and Execution for Human-in-the-Loop Operation of Robots in a Mixed-Reality Workspace
AU - Chakraborti, Tathagata
AU - Sreedharan, Sarath
AU - Kulkarni, Anagha
AU - Kambhampati, Subbarao
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/27
Y1 - 2018/12/27
N2 - Recent advances in mixed-reality technologies have renewed interest in alternative modes of communication for human-robot interaction. However, most of the work in this direction has been confined to tasks such as teleoperation, simulation or explication of individual actions of a robot. In this paper, we will discuss how the capability to project intentions affect the task planning capabilities of a robot. Specifically, we will start with a discussion on how projection actions can be used to reveal information regarding the future intentions of the robot at the time of task execution. We will then pose a new planning paradigm - projection-aware planning - whereby a robot can trade off its plan cost with its ability to reveal its intentions using its projection actions. We will demonstrate each of these scenarios with the help of a joint human-robot activity using the HoloLens.
AB - Recent advances in mixed-reality technologies have renewed interest in alternative modes of communication for human-robot interaction. However, most of the work in this direction has been confined to tasks such as teleoperation, simulation or explication of individual actions of a robot. In this paper, we will discuss how the capability to project intentions affect the task planning capabilities of a robot. Specifically, we will start with a discussion on how projection actions can be used to reveal information regarding the future intentions of the robot at the time of task execution. We will then pose a new planning paradigm - projection-aware planning - whereby a robot can trade off its plan cost with its ability to reveal its intentions using its projection actions. We will demonstrate each of these scenarios with the help of a joint human-robot activity using the HoloLens.
UR - http://www.scopus.com/inward/record.url?scp=85062979200&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2018.8593830
DO - 10.1109/IROS.2018.8593830
M3 - Conference contribution
AN - SCOPUS:85062979200
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4476
EP - 4482
BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Y2 - 1 October 2018 through 5 October 2018
ER -