TY  - JOUR
A1  - Kondaxakis, P
A1  - Gulzar, K
A1  - Kinauer, S
A1  - Kokkinos, I
A1  - Kyrki, V
JF  - IEEE Transactions on Robotics
UR  - https://doi.org/10.1109/TRO.2018.2875388
SN  - 1941-0468
IS  - 1
N1  - This is an open access article published under the terms of the IEEE OA licence. For information on re-use, please refer to the publisher?s terms and conditions.
SP  - 216
VL  - 35
KW  - Science & Technology
KW  -  Technology
KW  -  Robotics
KW  -  Cognitive robotics
KW  -  multi-robot systems
KW  -  symbol grounding
KW  -  POINTING GESTURES
KW  -  RECOGNITION
PB  - IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
N2  - In a multirobot system, using shared symbols for objects in the environment is a prerequisite for collaboration. Sharing symbols requires that each agent has anchored a symbol with an internal, sensor level representation, as well as that these symbols match between the agents. The problem can be solved easily when the internal representations can be communicated between the agents. However, with heterogeneous embodiments the available sensors are likely to differ, making it impossible to share the internal representations directly. We propose the use of pointing gestures to align symbols between a heterogeneous group of robots. We describe a planning framework that minimizes the required effort for anchoring representations across robots. The framework allows planning for both the gesturing and observing agents in a decentralized fashion. It considers both implicit sources of failure, such as ambiguous pointing, as well as costs required by actions. Simulation experiments demonstrate that the resulting planning problem has a complex solution structure with multiple local minima. Demonstration with a heterogeneous two-robot system shows the practical viability of this approach.
ID  - discovery10075610
AV  - public
Y1  - 2019/02/01/
EP  - 230
TI  - Robot-Robot Gesturing for Anchoring Representations
ER  -