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

Standard

Comparison of Behaviour-Based Architectures for Human-Robot Collaboration in a Package Delivery Task. / Remmels, Melanie; Navarro-Guerrero, Nicolás; Wermter, Stefan.

International Conference on Human-Agent Interaction (HAI). Bielefeld, Germany : ACM, 2017. p. 121-129.

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

Harvard

Remmels, M, Navarro-Guerrero, N & Wermter, S 2017, Comparison of Behaviour-Based Architectures for Human-Robot Collaboration in a Package Delivery Task. in International Conference on Human-Agent Interaction (HAI). ACM, Bielefeld, Germany, pp. 121-129, 5th International Conference on Human-Agent Interaction, Bielefeld, Germany, 17/10/2017. https://doi.org/10.1145/3125739.3125764

APA

Remmels, M., Navarro-Guerrero, N., & Wermter, S. (2017). Comparison of Behaviour-Based Architectures for Human-Robot Collaboration in a Package Delivery Task. In International Conference on Human-Agent Interaction (HAI) (pp. 121-129). Bielefeld, Germany: ACM. https://doi.org/10.1145/3125739.3125764

CBE

Remmels M, Navarro-Guerrero N, Wermter S. 2017. Comparison of Behaviour-Based Architectures for Human-Robot Collaboration in a Package Delivery Task. In International Conference on Human-Agent Interaction (HAI). Bielefeld, Germany: ACM. pp. 121-129. https://doi.org/10.1145/3125739.3125764

MLA

Remmels, Melanie, Nicolás Navarro-Guerrero and Stefan Wermter "Comparison of Behaviour-Based Architectures for Human-Robot Collaboration in a Package Delivery Task". International Conference on Human-Agent Interaction (HAI). Bielefeld, Germany: ACM. 2017, 121-129. https://doi.org/10.1145/3125739.3125764

Vancouver

Remmels M, Navarro-Guerrero N, Wermter S. Comparison of Behaviour-Based Architectures for Human-Robot Collaboration in a Package Delivery Task. In International Conference on Human-Agent Interaction (HAI). Bielefeld, Germany: ACM. 2017. p. 121-129 https://doi.org/10.1145/3125739.3125764

Author

Remmels, Melanie ; Navarro-Guerrero, Nicolás ; Wermter, Stefan. / Comparison of Behaviour-Based Architectures for Human-Robot Collaboration in a Package Delivery Task. International Conference on Human-Agent Interaction (HAI). Bielefeld, Germany : ACM, 2017. pp. 121-129

Bibtex

@inproceedings{b7e12a1a133045c8951515bd0798c056,
title = "Comparison of Behaviour-Based Architectures for Human-Robot Collaboration in a Package Delivery Task",
abstract = "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.",
keywords = "ausrl",
author = "Melanie Remmels and Nicol{\'a}s Navarro-Guerrero and Stefan Wermter",
year = "2017",
month = "10",
day = "17",
doi = "10.1145/3125739.3125764",
language = "English",
isbn = "978-1-4503-5113-3",
pages = "121--129",
booktitle = "International Conference on Human-Agent Interaction (HAI)",
publisher = "ACM",

}

RIS

TY - GEN

T1 - Comparison of Behaviour-Based Architectures for Human-Robot Collaboration in a Package Delivery Task

AU - Remmels, Melanie

AU - Navarro-Guerrero, Nicolás

AU - Wermter, Stefan

PY - 2017/10/17

Y1 - 2017/10/17

N2 - 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.

AB - 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.

KW - ausrl

U2 - 10.1145/3125739.3125764

DO - 10.1145/3125739.3125764

M3 - Article in proceedings

SN - 978-1-4503-5113-3

SP - 121

EP - 129

BT - International Conference on Human-Agent Interaction (HAI)

PB - ACM

CY - Bielefeld, Germany

ER -