Publication Details

Bashira Akter Anima, Janelle Blankenburg, Mariya Zagainova, Seyed (Pourya) Hoseini, Muhammed Tawfiq Chowdhury, David Feil-Seifer, Monica Nicolescu, and Mircea Nicolescu. "Collaborative Human-Robot Hierarchical Task Execution with an Activation Spreading Architecture." In International Conference on Social Robotics, page 301-310, Madrid, Spain, Nov 2019. doi: https://doi.org/10.1007/978-3-030-35888-4_28 ( pdf )


  • Keywords:
  • SARG
  • HRI
  • collaborative robotics
  • task architecture
  • REU

Abstract

This paper addresses the problem of human-robot collaborative task execution for hierarchical task plans. The main contributions are the ability for dynamic allocation of tasks in human-robot teams and opportunistic task execution given different environmental conditions. The human-robot collaborative task is represented in a tree structure which consists of sequential, non-ordering, and alternative paths of execution. The general approach to enable human-robot collaborative task execution is to have the robot maintain an updated, simulated version of the human's task representation, which is similar to the robot's own controller for the same task. Continuous peer node message passing between the agents' task representations enables both to coordinate their task execution, so that they perform the task given its required execution constraints and they do not both work on the same task component. A tea-table task scenario was designed for validation with overlapping and non-overlapping sub-tasks between a human and a Baxter robot.

Author Details

Name: Bashira Akter Anima
email: banima@nevada.unr.edu
Status: Active

Name: Janelle Blankenburg
email: jjblankenburg@nevada.unr.edu
Website: jblankenburg.github.io
Status: Active

Name: Mariya Zagainova
Status: Active

Name: Seyed (Pourya) Hoseini
Status: Active

Name: Muhammed Tawfiq Chowdhury
Status: Active

Name: David Feil-Seifer
email: dave@cse.unr.edu
Website: http://cse.unr.edu/~dave
Phone: (775) 784-6469
Status: Active

Name: Monica Nicolescu
Status: Active

Name: Mircea Nicolescu
Status: Inactive

BibTex Reference

@inproceedings{anima2019collaborative,
  title={Collaborative Human-Robot Hierarchical Task Execution with an Activation Spreading Architecture},
  author={Bashira Akter Anima and Janelle Blankenburg and Mariya Zagainova and Seyed (Pourya) Hoseini and Muhammed Tawfiq Chowdhury and David Feil-Seifer and Monica Nicolescu and Mircea Nicolescu},
  year={2019},
  month={November},
  pages={301-310},
  address={Madrid, Spain},
  doi={https://doi.org/10.1007/978-3-030-35888-4_28},
  booktitle={International Conference on Social Robotics},
}

HTML Reference

<span class="authors">Bashira Akter Anima, Janelle Blankenburg, Mariya Zagainova, Seyed (Pourya) Hoseini, Muhammed Tawfiq Chowdhury, David Feil-Seifer, Monica Nicolescu, and Mircea Nicolescu</span>. <span class="title">"Collaborative Human-Robot Hierarchical Task Execution with an Activation Spreading Architecture." </span> In <span class="booktitle">International Conference on Social Robotics</span>, <span class="page">page 301-310</span>, <span class="address">Madrid, Spain</span>, <span class="month">Nov</span> <span class="year">2019</span>. <span class="ending"></span> <span class="doi">doi: https://doi.org/10.1007/978-3-030-35888-4_28</span>

Support

Designing Collaborator Robots for Highly-Dynamic Multi-Human, Multi-Robot Teams, Office of Naval Research (ONR) PI: Monica Nicolescu, co-PI: David Feil-Seifer, Amount: $656,511, April 1, 2016 - March 31, 2019

DURIP: Humanoid Platforms for Human-Robot Collaboration, Office of Naval Research (ONR) PI: Monica Nicolescu, co-PI: David Feil-Seifer, Mircea Nicolescu, Amount: $312,000, May 1, 2014 - June 30, 2015