Towards a Framework for Design and Evaluation of Mixed Initiative Systems: Considering Movement as a Modality

We propose a framework for design and evaluation of mixed initiative robotic systems, focusing mostly on the robot initiative in the case of a robotic shopping trolley. Throughout, we consider the implications of the movement modality in the robot initiative and the communication that follows it. We illustrate our considerations with our experience in designing and evaluating mixed-initiative human-robot communication with a mock-up robot and subsequently an actual robot platform.