Human-robot Interaction and Robot Control

This paper describes a robot control architecture with an underlying human-robot interaction (HRI) model. The architecture is supported on an algebraic framework inspired in semiotics principles. The architecture is composed of a set of objects that capture, in the locomotion context, features often present in human-human interactions, namely ambiguity and semantics. The resulting framework differs from other works in this area in that it yields an algebraic system upon which more sophisticated control structures can be defined.