In this work we argue that in Human-Robot Collaboration (HRC) tasks, the Perception-Action cycle in HRC tasks can not fully explain the collaborative behaviour of the human and robot and it has to be extended to Perception-Intention-Action cycle, where Intention is a key topic. In some cases, agent Intention can be perceived or inferred by the other agent, but in others, it has to be explicitly informed to the other agent to succeed the goal of the HRC task. The Perception-Intention-Action cycle includes three basic functional procedures: Perception-Intention, Situation Awareness and Action. The Perception and the Intention are the input of the Situation Awareness, which evaluates the current situation and projects it, into the future situation. The agents receive this information, plans and agree with the actions to be executed and modify their action roles while perform the HRC task. In this work, we validate the Perception-Intention-Action cycle in a joint object transportation task, modeling the Perception-Intention-Action cycle through a force model which uses real life and social forces. The perceived world is projected into a force world and the human intention (perceived or informed) is also modelled as a force that acts in the HRC task. Finally, we show that the action roles (master-slave, collaborative, neutral or adversary) are intrinsic to any HRC task and they appear in the different steps of a collaborative sequence of actions performed during the task.
翻译:在这项工作中,我们争辩说,在人类-机器人协作(HRC)的任务中,人权理事会任务中的认知-行动周期不能充分解释人类和机器人的协作行为,因此必须将其扩大到认知-意图-行动周期,因为意图是一个关键议题。在某些情况下,其他代理人可以察觉或推断代理人的意向,但在另一些情况下,必须明确告知另一代理人,以便实现人权理事会任务的目标。概念-意向-行动周期包括三个基本功能程序:概念-意识、情况认识和行动。概念与意图是情况意识的投入,该意识评估当前状况和项目对未来局势的影响。代理人收到这一信息、计划,并赞同其他代理人在执行人权理事会任务时要执行的行动和修改其行动作用的行动。在这项工作中,我们通过联合目标运输任务来验证概念-行动周期,通过使用真实生活和社会力量的模式模拟概念-认知-行动周期。认识-意识-行动周期是情况意识意识意识意识-认识-意识-意识-意识-意识-行动周期是认识-意识-意识-意识-意识-意识-意识-行动周期(即评估现状-认识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-行动周期)的周期,是认识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识意识-意识-意识-意识-意识-行动周期-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-意识-作用-作用-意识-意识-意识-意识-意识-意识-意识-作用-作用-作用-意识-意识-意识-意识-意识-作用-作用-作用-作用-作用-作用-作用-作用-作用-意识-意识-意识-意识-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用-作用