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Summary: Mixed-Initiative Interaction and Robotic Systems
Julie A. Adams and Pramila Rani
Electrical Engineering and Computer Science
Vanderbilt University
Nashville, USA.
[julie.a.adams, pramila.rani@vanderbilt.edu]
Nilanjan Sarkar
Mechanical Engineering
Vanderbilt University
Nashville, USA.
Nilanjan.sarkar@vanderbilt.edu
Abstract
A truly collaborative human-robot interaction framework
should allow the participating agents to assume and
relinquish initiative depending upon their own capabilities
and their understanding of the environment. The goal of this
work is to define and develop a mixed-initiative human
robot collaborative architecture in which affect-based
sensing plays a critical role in initiative switching. Affect-
based sensing implies that the robot detects the human's
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