2021/01/31 by Karthik Mahadevan, Maurício Sousa, Mahadevan, Karthik +5 · 1 citation
Computer Science · Psychology · #FOS: Computer and information sciences #H.5.2 #Human-Automation Interaction and Safety #Human-Computer Interaction (cs.HC) #Robotics (cs.RO) #Social Robot Interaction and HRI #Virtual Reality Applications and Impacts
paper · pdf · doi:10.48550/arxiv.2102.00581
openalex publication_date 2021/01/31 · openalex created_date 2022/07/25 · openalex updated_date 2026/07/28
In ad-hoc human-robot collaboration (HRC), humans and robots work on a task\nwithout pre-planning the robot's actions prior to execution; instead, task\nallocation occurs in real-time. However, prior research has largely focused on\ntask allocations that are pre-planned - there has not been a comprehensive\nexploration or evaluation of techniques where task allocation is adjusted in\nreal-time. Inspired by HCI research on territoriality and proxemics, we propose\na design space of novel task allocation techniques including both explicit\ntechniques, where the user maintains agency, and implicit techniques, where the\nefficiency of automation can be leveraged. The techniques were implemented and\nevaluated using a tabletop HRC simulation in VR. A 16-participant study, which\npresented variations of a collaborative block stacking task, showed that\nimplicit techniques enable efficient task completion and task parallelization,\nand should be augmented with explicit mechanisms to provide users with\nfine-grained control.\n