Pedro Santana, Luís Correia, Mário Salgueiro, Vasco Santos, José Barata



Teams of humans and robots pose a new challenge to teamwork. This stems from the fact that robots and humans have significantly different perceptual, reasoning, communication and actuation capabilities. This paper contributes to solving this problem by proposing a knowledge-based multi-agent system to support design and execution of stereotyped (i.e. recurring) human-robot teamwork. The cooperative workflow formalism has been selected to specify team plans, and adapted to allow activities to share structured data, in a frequent basis, while executing. This novel functionality enables tightly coupled interactions among team members. Rather than focusing on automatic teamwork planning, this paper proposes a complementary and intuitive knowledge-based solution for fast deployment and adaptation of small scale human-robot teams. In addition, the system has been designed in order to provide information about the mission status, contributing this way to the human overall mission awareness problem. A set of empirical results obtained from simulated and real missions demonstrates the capabilities of the system.


  1. Bellifemine, F., Poggi, A., and Rimassa, G. (1999). JADE - a FIPA-compliant agent framework. In Proc. of PAAM'99, pages 97-108, London.
  2. Drury, J., Keyes, B., and Yanco, H. (2007). LASSOing HRI: Analyzing Situation Awareness in Map-Centric and Video-Centric Interfaces. In Proc. of the HRI' 07, pages 279-286, Arlington, Virginia, USA.
  3. Drury, J., Scholtz, J., and Yanco, H. (2003). Awareness in human-robot interactions. In Proc. of the IEEE Int. Conf. on Systems, Man and Cybernetics.
  4. Godart, C., Charoy, F., Perrin, O., and Skaf-Molli, H. (2000). Cooperative workflows to coordinate asynchronous cooperative applications in a simple way. In Proc. of the 7th Int. Conf. on Parallel and Distributed Systems, pages 409-416.
  5. Nourbakhsh, I., Sycara, K., Koes, M., Yong, M., Lewis, M., and Burion, S. (2005). Human-Robot Teaming for Search and Rescue. Pervasive Computing, IEEE, 4(1):72-78.
  6. Santana, P., Barata, J., and Correia, L. (2007). Sustainable robots for humanitarian demining. Int. Journal of Advanced Robotics Systems (special issue on Robotics and Sensors for Humanitarian Demining), 4(2):207- 218.
  7. Santana, P., Caˆndido, C., Santos, P., Almeida, L., Correia, L., and Barata, J. (2008). The ares robot: case study of an affordable service robot. In Proc. of the European Robotics Symposium 2008 (EUROS'08), Prague.
  8. Santos, V., Caˆndido, C., Santana, P., Correia, L., and Barata, J. (2007). Developments on a system for human-robot teams. In Proceedings of the 7th Conf. on Mobile Robots and Competitions, Paderne, Portugal.
  9. Scerri, P., Pynadath, D., and Tambe, M. (2002). Towards adjustable autonomy for the real world. Journal of Artificial Intelligence Research, 17:171-228.
  10. Schreiber, G., Akkermans, H., Anjewierden, A., deHoog, R., Shadbolt, N., VandeVelde, W., and Wielinga, B. (2000). Knowledge Engineering and Management: The CommonKADS Methodology. MIT Press.
  11. Sierhuis, M., Clancey, W., Alena, R., Berrios, D., Shum, S., Dowding, J., Graham, J., Hoof, R., Kaskiris, C., Rupert, S., and Tyree, K. (2005). NASA's Mobile Agents Architecture: A Multi-Agent Workflow and Communication System for Planetary Exploration, i-SAIRAS 2005. München, Germany.
  12. Sycara, K. and Sukthankar, G. (2006). Literature review of teamwork models. Technical Report CMU-RI-TR-06- 50, Robotics Institute, Carnegie Mellon University.
  13. Tambe, M. (1997). Towards flexible teamwork. Journal of Artificial Intelligence, 7:83-124.

Paper Citation

in Harvard Style

Santana P., Correia L., Salgueiro M., Santos V. and Barata J. (2008). A KNOWLEDGE-BASED COMPONENT FOR HUMAN-ROBOT TEAMWORK . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8111-31-9, pages 228-233. DOI: 10.5220/0001497502280233

in Bibtex Style

author={Pedro Santana and Luís Correia and Mário Salgueiro and Vasco Santos and José Barata},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},

in EndNote Style

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
SN - 978-989-8111-31-9
AU - Santana P.
AU - Correia L.
AU - Salgueiro M.
AU - Santos V.
AU - Barata J.
PY - 2008
SP - 228
EP - 233
DO - 10.5220/0001497502280233