Coordinating Social Communication in Human-Robot Task Collaborations

ix Chapter 1: Introduction 1 1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.1.1 Human-Robot Task Collaboration . . . . . . . . . . . . . . . . . 1 1.1.2 Approach to Coordinating Social Communication . . . . . . . . . 3 1.2 Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.3 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Chapter 2: Background and Related Work 10 2.1 Human-Human Collaboration . . . . . . . . . . . . . . . . . . . . . . . . 10 2.1.1 Perspective-Taking and Theory-of-Mind . . . . . . . . . . . . . . 11 2.1.2 Human Activity Modeling and Recognition . . . . . . . . . . . . 13 2.2 Multi-Robot Coordination and Applicability to the Human-Robot Case 13 2.2.1 Task Classifications . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.3 Human-Robot Collaboration . . . . . . . . . . . . . . . . . . . . . . . . 18 2.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Chapter 3: Planning of Coordinating Social Communication 22 3.1 Human-Robot Task Representation . . . . . . . . . . . . . . . . . . . . . 25 3.2 Representing and Recognizing Human Activity . . . . . . . . . . . . . . 27 3.3 Communication Planning . . . . . . . . . . . . . . . . . . . . . . . . . . 31 3.4 Extensions of the Approach . . . . . . . . . . . . . . . . . . . . . . . . . 33 3.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35