Publication Details

Janelle Blankenburg, Mariya Zagainova, Stephen M. Simmons, Gabrielle Talavera, Monica Nicolescu, and David Feil-Seifer. "Human-Robot Collaboration and Dialogue for Fault Recovery on Hierarchical Tasks." In International Conference on Social Robotics (ICSR), CO, Oct 2020. doi: 10.1007/978-3-030-62056-1_13 ( pdf )


  • Keywords:
  • HRI
  • collaborative robotics
  • task architecture
  • task verification
  • fault recovery

Abstract

Robotic systems typically follow a rigid approach to task execution, in which they perform the necessary steps in a specific order, but fail when having to cope with issues that arise during execution. We propose an approach that handles such cases through dialogue and human-robot collaboration. The proposed approach contributes a hierarchical control architecture that 1) autonomously detects and is cognizant of task execution failures, 2) initiates a dialogue with a human helper to obtain assistance, and 3) enables collaborative human-robot task execution through extended dialogue in order to 4) ensure robust execution of hierarchical tasks with complex constraints, such as sequential, non-ordering, and multiple paths of execution. The architecture ensures that the constraints are adhered to throughout the entire task execution, including during failures. The recovery of the architecture from issues during execution is validated by a human-robot team on a building task.

Author Details

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

Name: Mariya Zagainova
Status: Active

Name: Stephen Simmons
Status: Inactive

Name: Gabrielle Talavera
Status: Active

Name: Monica Nicolescu
Status: Active

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

BibTex Reference

@inproceedings{blankenburg2020human-robot,
  title={Human-Robot Collaboration and Dialogue for Fault Recovery on Hierarchical Tasks},
  author={Janelle Blankenburg and Mariya Zagainova and Stephen M. Simmons and Gabrielle Talavera and Monica Nicolescu and David Feil-Seifer},
  year={2020},
  month={October},
  address={CO},
  doi={10.1007/978-3-030-62056-1_13},
  booktitle={International Conference on Social Robotics (ICSR)},
}

HTML Reference

<span class="authors">Janelle Blankenburg, Mariya Zagainova, Stephen M. Simmons, Gabrielle Talavera, Monica Nicolescu, and David Feil-Seifer</span>. <span class="title">"Human-Robot Collaboration and Dialogue for Fault Recovery on Hierarchical Tasks." </span> In <span class="booktitle">International Conference on Social Robotics (ICSR)</span>, <span class="address">CO</span>, <span class="month">Oct</span> <span class="year">2020</span>. <span class="ending"></span> <span class="doi">doi: 10.1007/978-3-030-62056-1_13</span>

Support

REU Site: Collaborative Human-Robot Interaction, National Science Foundation PI: David Feil-Seifer, co-PI: Shamik Sengupta, Amount: $360,000, Feb. 1, 2018 - Jan. 31, 2021

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