HARMONIC: Cognitive and Control Collaboration in Human-Robotic Teams

• URL: http://arxiv.org/abs/2409.18047v1
• Date: Thu, 26 Sep 2024 16:48:21 GMT
• Title: HARMONIC: Cognitive and Control Collaboration in Human-Robotic Teams
• Authors: Sanjay Oruganti, Sergei Nirenburg, Marjorie McShane, Jesse English, Michael K. Roberts, Christian Arndt,
• Abstract summary: We demonstrate a cognitive strategy for robots in human-robot teams that incorporates metacognition, natural language communication, and explainability. The system is embodied using the HARMONIC architecture that flexibly integrates cognitive and control capabilities.
• Score: 0.0
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: This paper presents a novel approach to multi-robot planning and collaboration. We demonstrate a cognitive strategy for robots in human-robot teams that incorporates metacognition, natural language communication, and explainability. The system is embodied using the HARMONIC architecture that flexibly integrates cognitive and control capabilities across the team. We evaluate our approach through simulation experiments involving a joint search task by a team of heterogeneous robots (a UGV and a drone) and a human. We detail the system's handling of complex, real-world scenarios, effective action coordination between robots with different capabilities, and natural human-robot communication. This work demonstrates that the robots' ability to reason about plans, goals, and attitudes, and to provide explanations for actions and decisions are essential prerequisites for realistic human-robot teaming.

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