HARMONIC: Cognitive and Control Collaboration in Human-Robotic Teams

Sanjay Oruganti, Sergei Nirenburg, Marjorie McShane, Jesse English, Michael K. Roberts +5 more
9/26/2024
cs.ROcs.AIcs.MA

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Abstract

This paper describes HARMONIC, a cognitive-robotic architecture that integrates the OntoAgent cognitive framework with general-purpose robot control systems applied to human-robot teaming (HRT). HARMONIC incorporates metacognition, meaningful natural language communication, and explainability capabilities required for developing mutual trust in HRT. Through simulation experiments involving a joint search task performed by a heterogeneous team of two HARMONIC-based robots and a human operator, we demonstrate heterogeneous robots that coordinate their actions, adapt to complex scenarios, and engage in natural human-robot communication. Evaluation results show that HARMONIC-based robots can reason about plans, goals, and team member attitudes while providing clear explanations for their decisions, which are essential requirements for realistic human-robot teaming.

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Cite this paper

@article{oruganti2024harmonic,
  title  = {HARMONIC: Cognitive and Control Collaboration in Human-Robotic Teams},
  author = {Sanjay Oruganti and Sergei Nirenburg and Marjorie McShane and Jesse English and Michael K. Roberts and Christian Arndt and Sahithi Kamireddy and Carlos Gonzalez and Mingyo Seo and Luis Sentis},
  year   = {2024},
  eprint = {2409.18047},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2409.18047v3}
}

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