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开发取得了重大进展，但在日常环境中仍然没有普遍存在的智能移动的机器人与人类共存。 在许多可能的原因，为什么是这种情况下，该项目解决了一个有效的具体互动的移动的机器人与人类的挑战，重点是任务，使联合人类和机器人的性能，并需要空间互动。 PI的愿景是，该项目的成果将使多个机器人成为可能，比如说，办公楼可用于不同的导航和信息任务，包括陪同一整天的访客通过他们的会议日程，为偶尔的访客提供图尔斯，为办公室的人取物品并将其带到办公室，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共生人类-机器人和机器人-机器人交互范式，使机器人能够帮助人类和彼此，从而改变机器人技术的社会服务机器人技术的现状。 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，沿着增量地图学习算法，定位和导航，以及异步（多机器人）任务划分和规划下的不确定性与效用分析，包括人类可用性机器人帮助。 他们将探索移动的机器人与人类在空间中的有效空间互动，利用社会习俗，使人不仅仅是机器人的障碍。 机器人科学和开发研究将与教育和推广活动以及原则性评估无缝集成，其中包括在校园建筑中部署一个机器人团队。除了极大地推进机器人技术的发展，使多个移动的机器人成为办公楼环境的工作空间的一部分将具有显著的教育影响，机器人技术和与机器人的互动。 在计算机科学和机器人技术研究领域，持续的、开放的机器人存在将通过引发协同合作和新的、高风险的实验，以更低的设置成本，改变研究人员与他们的课堂研究项目之间的关系。 C校园外展图尔斯之旅将从实验室环境中技术未来的狭隘观点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接触，显着扩大对互动技术在我们生活中的作用的调查和讨论。 在中学课堂上采用低成本的移动的机器人的传播课程将把机器人与课堂的关系从一个非常低能力的机器人的构建工具包提升到一个高层次的交互设计，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.