Abstract
We develop a formal logic for task descriptions that are easy to interpret for both humans and robots. Tasks are described in propositional forms that reflect syntactic structures observed in natural language so that all the resulting task descriptions can be easily understood by humans. At the same time, these propositional forms ensure that each task description is interpretable by robots. Infinitely many task descriptions can be created in this formal logic so that the formal logic can support complex human-robot interactions. We establish a hierarchy of propositions that enhances the expressive power, the interactivity, and the deductive apparatus of our formal logic. We also examine how to systematically evaluate the feasibility of each task description using the formal logic.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Abbott, K.A., Slotte, S.M., Stimson, D.K.: Federal aviation administration human factors team report on: The interfaces between flightcrews and modern flight deck systems (June 1996)
Allen, J.F., Byron, D.K., Dzikovska, M., Ferguson, G., Galescu, L., Stent, A.: Toward conversational human-computer interaction. AI Magazine 22, 27–37 (2001)
Anderson, M., Conner, C., Daniel, V., McKay, M., Yancey, N.: Demonstration of the robotic gamma locating and isotopic identification device. In: Proceedings of the He American Nuclear Society Spectrum (2002)
Biber, D., Conrad, S., Leech, G.: A student grammar of spoken and written English. Pearson ESL (2002)
Bruemmer, D.J., Few, D.A., Boring, R.L., Marble, J.L., Walton, M.C., Nielsen, C.W.: Shared understanding for collaborative control. IEEE Transactions on Systems, Man and Cybernetics, Part A: Systems and Humans 35(4), 494–504 (2005)
Bruemmer, D.J., Marble, J.L., Dudenhoeffer, D.D., Anderson, M., Mckay, M.D.: Mixed-initiative control for remote characterization of hazardous environments. In: Proceedings of the 36th Annual Hawaii International Conference on System Sciences (2003)
Casper, J., Murphy, R.R.: Human-robot interactions during the robot-assisted urban search and rescue response at the World Trade Center. IEEE Transactions on Systems, Man, and Cybernetics, Part B 33, 367–385 (2003)
Dias, M.B., Kannan, B., Browning, B., Jones, E.G., Argall, B., Dias, M.F., Zinck, M., Veloso, M.M., Stentz, A.J.: Evaluation of human-robot interaction awareness in search and rescue. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 2327–2332 (2008)
Dias, M.B., Kannan, B., Browning, B., Jones, E.G., Argall, B., Dias, M.F., Zinck, M., Veloso, M.M., Stentz, A.J.: Sliding autonomy for peer-to-peer human-robot teams. In: Proceedings of the 10th International Conference on Intelligent Autonomous Systems (2008)
Bernardine Dias, M., Harris, T.K., Browning, B., Jones, E.G., Argall, B., Veloso, M.M., Stentz, A., Rudnicky, A.I.: Dynamically formed human-robot teams performing coordinated tasks. In: AAAI Spring Symposium: To Boldly Go Where No Human-Robot Team Has Gone Before, pp. 30–38 (2006)
Espinosa, J.A., Cadiz, J., Rico-Gutierrez, L., Kraut, R.E., Scherlis, W., Lautenbacher, G.: Coming to the wrong decision quickly: Why awareness tools must be matched with appropriate tasks. In: Proceedings of the SIGCHI Conference on Human Factors in Computing Systems, pp. 392–399. ACM (2000)
Feil-Seifer, D., Mataric, M.J.: Defining socially assistive robotics. In: Proceedings of the International Conference on Rehabilitation Robotics, pp. 465–468 (2008)
Ferketic, J., Goldblatt, L., Hodgson, E., Murray, S., Wichowski, R., Bradley, A., Chun, W., Evans, J., Fong, T., Goodrich, M., Steinfeld, A., Stiles, R.: Toward human-robot interface standards: Use of standardization and intelligent subsystems for advancing human-robotic competency in space exploration. In: Proceedings of the SAE 36th International Conference on Environmental Systems (2006)
Fong, T., Nourbakhsh, I., Kunz, C., Flückiger, L., Schreiner, J., Ambrose, R., Burridge, R., Simmons, R., Hiatt, L.M., Schultz, A.: The peer-to-peer human-robot interaction project. Space 6750 (2005)
Fong, T., Thorpe, C.: Vehicle teleoperation interfaces. Autonomous Robots 11, 9–18 (2001)
Forsberg, M.: Why is speech recognition difficult. Chalmers University of Technology (2003)
Gieselmann, P., Stenneken, P.: How to talk to robots: Evidence from user studies on human-robot communication. How People Talk to Computers, Robots, and Other Artificial Communication Partners, 68 (2006)
Goodrich, M.A., Schultz, A.C.: Human-robot interaction: a survey. Found. Trends Hum.-Comput. Interact. 1, 203–275 (2007)
Johnson, M., Feltovich, P.J., Bradshaw, J.M., Bunch, L.: Human-robot coordination through dynamic regulation. In: IEEE International Conference on Robotics and Automation, ICRA 2008, pp. 2159–2164 (2008)
Johnson, M., Intlekofer, K.: Coordinated operations in mixed teams of humans and robots. In: Proceedings of the IEEE International Conference on Distributed Human-Machine Systems (2008)
Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahsahi, T., Shinjou, A., Shimada, S.: RoboCup rescue: Search and rescue in large-scale disasters as a domain for autonomous agents research. In: Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, pp. 739–743 (1999)
Klir, G.J., Folger, T.A.: Fuzzy sets, uncertainty, and information. Prentice Hall (1988)
Kowalski, R., Sergot, M.: A logic-based calculus of events. New Generation Computing 4(1), 67–95 (1986)
Kulyukin, V., Gharpure, C., Nicholson, J., Osborne, G.: Robot-assisted wayfinding for the visually impaired in structured indoor environments. Autonomous Robots 21, 29–41 (2006)
Lacey, G., Dawson-Howe, K.M.: The application of robotics to a mobility aid for the elderly blind. Robotics and Autonomous Systems 23, 245–252 (1998)
Lauria, S., Bugmann, G., Kyriacou, T., Klein, E.: Mobile robot programming using natural language. Robotics and Autonomous Systems 38, 171–181 (2002)
Lueth, T.C., Laengle, T., Herzog, G., Stopp, E., Rembold, U.: KANTRA: human-machine interaction for intelligent robots using natural language. In: Proceedings of the IEEE International Workshop on Robotand HumanCommunication, pp. 106–111 (1994)
Marble, J., Bruemmer, D., Few, D., Dudenhoeffer, D.: Evaluation of supervisory vs. peer-peer interaction with human-robot teams. In: Proceedings of the Hawaii International Conference on System Sciences (2004)
McCarthy, J.: Situations, actions and causal laws. In: Minsky, M. (ed.) Semantic Information Processing, pp. 410–417. MIT press, Cambridge (1968)
Norbakhsh, I.R., Sycara, K., Koes, M., Yong, M., Lewis, M., Burion, S.: Human-robot teaming for search and rescue. Pervasive Computing, 72–79 (2005)
Reiter, R.: Proving properties of states in the situation calculus. Artificial Intelligence 64, 337–351 (1993)
Shim, I., Yoon, J., Yoh, M.: A human robot interactive system “RoJi”. International Journal of Control, Automation, and Systems 2, 398–405 (2004)
Shneiderman, B.: The limits of speech recognition. Communications of the ACM 43(9), 63–65 (2000)
Thielscher, M.: Introduction to the fluent calculus. Electronic Transactions on Artificial Intelligence 3 (1998)
Tomassi, P.: Logic. Routledge (1999)
Wilcox, B., Nguyen, T.: Sojourner on mars and lessons learned for future planetary rovers. In: Proceedings of the SAE International Conference on Environmental Systems (1998)
Winograd, T., Flores, F.: Understanding computers and cognition: A new foundation for design. Ablex Pub. (1986)
Zadeh, L.A.: Some reflections on information granulation and its centrality in granular computing, computing with words, the computational theory of perceptions and precisiated natural language. Studies in Fuzziness and Soft Computing 95, 3–22 (2002)
Zadeh, L.A.: Precisiated natural language (PNL). AI Magazine 25(3), 74–92 (2004)
Zadeh, L.A.: A new direction in ai: Toward a computational theory of perceptions. AI Magazine 22(1), 73 (2001)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Nakama, T., Muñoz, E., LeBlanc, K., Ruspini, E. (2014). Facilitating Human-Robot Interaction: A Formal Logic for Task Description. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 253. Springer, Cham. https://doi.org/10.1007/978-3-319-03653-3_25
Download citation
DOI: https://doi.org/10.1007/978-3-319-03653-3_25
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-03652-6
Online ISBN: 978-3-319-03653-3
eBook Packages: EngineeringEngineering (R0)