Comparison of Behaviour-Based Architectures for Human-Robot Collaboration in a Package Delivery Task

Research output: Contribution to book/anthology/report/proceedingArticle in proceedingsResearchpeer-review

A comparison between behavioural architectures, specifically a BDI architecture and a finite-state machine, for a collaborative package delivery system is presented. The system should assist a user in handling packages in cluttered environments. The entire system is built using open-source solutions for modules including speech recognition, person detection and tracking, and navigation. For the comparison, we use three criteria, namely, a static implementation-based comparison, a dynamic comparison and a qualitative comparison. Based on our results, we provide experimental evidence that supports the theoretical consensus about the domain of applicability for both, BDI architectures and finite-state machines. However, we cannot support or discourage any of the tested architectures for the particular case of the collaborative package delivery scenario, due to the non-overlapping strengths and weakness of both approaches. Finally, we outline future improvements to the system itself as well as the comparison of both behavioural architectures.
Original languageEnglish
Title of host publicationInternational Conference on Human-Agent Interaction (HAI)
Number of pages9
Place of publicationBielefeld, Germany
Publication year17 Oct 2017
ISBN (print)978-1-4503-5113-3
Publication statusPublished - 17 Oct 2017
Externally publishedYes
Event5th International Conference on Human-Agent Interaction - Campus Bielefeld, Bielefeld, Germany
Duration: 17 Oct 201720 Oct 2017


Conference5th International Conference on Human-Agent Interaction
LocationCampus Bielefeld

    Research areas

  • ausrl

See relations at Aarhus University Citationformats

ID: 117611727