Robot Communication Via Motion: A Study on Modalities for Robot-to-Human Communication in the Field

Abstract

In this article, we propose, implement, and evaluate a motion-based communication system for field robots: robots that operate in dynamic, unstructured, outdoor environments. We perform two pilot studies to guide our development of the system, then evaluate it alongside an audio communication system, an LCD display, and a system of blinking LEDs. We compare the usage of these four systems with three different robots from up to five different viewpoints of interaction in a large study administered via Amazon Mechanical Turk. We contribute in two ways to the development of a more robust form of field human-robot interaction, wherein robots can select the most appropriate communication vector for a given situation and context. First, we contribute a motion-based communication system for field robots along with three baseline systems against which to test it. Second, we present results from our development of this motion system, showing that it is easier to learn than a baseline blinking LED system, viable for use underwater, aerial, and terrestrial field robots, and less negatively affected by adverse viewpoints than other communication methods.

HREyes: Design, Development, and Evaluation of a Novel Method for AUVs to Communicate Information and Gaze Direction

“…These translations were also averaged to create a final reported angle. To complete the analysis, we utilize common metrics in AUV-to-human communication research [11]: accuracy (0-100 recognition rate), operational accuracy (0-100, recognition rate of answers with a confidence ≥ 6), confidence (0-10, participant reported), and time to answer (time between luceme beginning and participant answer). In the case of OLED participants, the average time it took them to swim to LoCO was added to the time to answer.…”

“…The most commonly used method, displaying messages on an integrated digital display [2,4,9,10], allows for simple communication of high-density information but is intractable when the diver and AUV are any distance apart [11]. The use of sequences of flashing lights is another commonly proposed methodology [1,9,11,12], but the methods evaluated thus far are not intuitive, imposing a significant burden on divers to learn and remember a confusing set of light codes. Finally, of all the A2H communication methods which have been proposed, (digital displays, light codes, and robot motion gestures [11]) none allow communication of robot gaze.…”

“…The use of sequences of flashing lights is another commonly proposed methodology [1,9,11,12], but the methods evaluated thus far are not intuitive, imposing a significant burden on divers to learn and remember a confusing set of light codes. Finally, of all the A2H communication methods which have been proposed, (digital displays, light codes, and robot motion gestures [11]) none allow communication of robot gaze. Gaze is a well-established vector of implicit communication, and has been shown to improve coordination and task success in human-robot teams in terrestrial environments [13,14].…”