The E ect of Action Recognition and Robot Awareness

Previous research in cooperative robotics has investigated several possible ways of coordinating the actions of cooperative teams | from implicit cooperation through sensory feedback to explicit cooperation using the exchange of communicated messages. These various approaches diier in the extent to which robot team members are aware of, or recognize the actions of their teammates and the extent to which they use this information to eeect their own actions. The research described in this paper investigates this issue of robot awareness of team member actions and its effect on cooperative team performance by examining the results of a series of experiments on teams of mobile robots performing a puck moving mission. In these experiments , we vary the team size (and thus the level of redundancy in team member capabilities) and the level of awareness robots have of their teammates' current actions and evaluate the team's performance using two metrics: time and energy. The results indicate that the impact of action awareness on cooperative team performance is a function not only of team size and the metric of evaluation, but also on the degree to which the eeects of actions can be sensed through the world, the relative amount of work that is available per robot, and the cost of replicated actions. Based on these empirical studies, we discuss the impact of action recognition and robot awareness on cooperative team design.