HCC: Large: SSCI-MISR: Symbiotic, Spatial, Coordinated human-robot Interaction for Multiple Indoor Service Robots

尽管多年来机器人研究和发展取得了重大进展，但在日常环境中仍然没有普及的智能移动机器人与人类共存。在造成这种情况的许多可能原因中，该项目解决了移动机器人与人类有效具体交互的挑战，重点关注能够实现人和机器人联合性能并需要空间交互的任务。PI的愿景是，项目成果将使多个机器人能够在办公大楼中进行不同的导航和信息任务，包括陪同一整天的访客完成他们的会议日程，为偶尔的访客提供游览，为办公室的人取东西并把它们带到办公室，以及发送每日邮件。为了实现这一目标，她计划通过引入一种新的人机共生和机器人-机器人交互范式，使机器人能够相互帮助和被人类帮助，从而改变社会服务机器人机器人技术的现状。机器人会基于对自身局限性的自我意识和对援助的估计成本和收益的效用分析来向人类寻求帮助。PI和她的团队将开发和评估机器人平台独立和建筑独立的问题环境表示，以及增量地图学习、定位和导航算法，以及不确定性下的异步（多机器人）任务划分和规划，并进行效用分析，包括人类对机器人帮助的可用性。他们将探索移动机器人与人类在空间中的有效空间互动，利用社会习俗，这样从机器人的角度来看，人不仅仅是障碍。机器人科学和开发研究将与教育和推广活动以及原则评估无缝结合，其中包括在校园建筑中部署机器人团队。更广泛的影响：除了极大地推动机器人技术的发展，使多个移动机器人成为办公大楼环境工作空间的一部分，将对机器人技术和与机器人的交互产生重大的教育影响。持续开放的机器人出现在计算机科学和机器人研究领域，将通过触发协同合作和新的、高风险的实验，以更低的设置成本，改变研究人员和他们的课堂研究项目之间关系的性质。C校园外展之旅将从实验室环境中对未来技术的狭隘看法转变为对人类和机器人在整个建筑环境中共存的现实和影响的全面暴露，大大拓宽了对互动技术在我们生活中的作用的探究和讨论。将低成本移动机器人纳入中学课堂的传播课程，将把机器人与课堂的关系从一种为非常低能力的机器人构建工具包提升到一种高层次的交互设计、工业设计和人机关系的讨论。

Despite the significant advances in robotics research and development over the years, there are still no pervasive intelligent mobile robots coexisting with humans in daily environments. Among the many possible reasons as to why this is the case, this project addresses the challenge of an effective concrete interaction of mobile robots with humans, focusing on tasks which enable joint human and robot performance and require spatial interaction. The PI's vision is that project outcomes will make it possible to have multiple robots in, say, an office building available for different navigational and informational tasks, including accompanying daylong visitors through their schedule of meetings, giving tours to occasional visitors, fetching objects for and taking them to people in offices, and delivering the daily mail. To achieve this goal, she plans to transform the state of the art in robot technology for social service robotics, by introducing a novel symbiotic human-robot and robot-robot interaction paradigm that allows robots to help and be helped by humans and each other. A robot will ask humans for assistance based on self awareness of its own limitations and a utility analysis of the estimated cost and benefits of the assistance. The PI and her team will develop and evaluate a robot platform-independent and building-independent problem environment representation, along with algorithms for incremental map learning, localization and navigation, and asynchronous (multi-robot) task partitioning and planning under uncertainty with a utility analysis that includes human availability for robot helping. They will explore effective spatial interaction between mobile robots in spaces with humans, utilizing social conventions, so that people are not just obstacles from the robot's perspective. The robot science and development research will be seamlessly integrated with educational and outreach activities, as well as with principled evaluation which will include fielding a team of robots in campus buildings.Broader Impacts: Aside from dramatically advancing the state of the art in robot technology, enabling multiple mobile robots to be part of the workspace of an office building environment will have significant educational impact relating both to robot technology and interaction with robots. Continuous, openly available robot presence in the computer science and robotics research spaces will change the nature of the relationship between researchers and their classroom research projects, by triggering synergistic collaborations and new, higher-risk experiments with lower setup cost. C Campus outreach tours will be transformed from a narrow view of the future of technology in laboratory settings to a sweeping exposure to the reality and implications of humans and robots coexisting throughout the built environment, significantly broadening inquiry and discussion about the role of interactive technology in our lives. Disseminated curricula incorporating low-cost mobile robots in the secondary school classroom will lift the robot-classroom relationship from one of build kits for very low-capability robots to one of high-level interaction design, industrial design, and discussions of human-robot relationships.