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Mobile Robot Laboratory
Mobile Robot Laboratory
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ItemBeyond Humanoid Emotions: Incorporating Traits, Attitudes and Moods(Georgia Institute of Technology, 2009) Moshkina, Lilia ; Arkin, Ronald C.No longer does the idea of robot emotions seem far-fetched; not their experiential side, of course, but rather those manifestations of emotion, especially in robots created in human likeness, which would be beneficial for successful interaction with people. Nonetheless, the concept of robot emotions is still a new one, with a myriad of questions to be answered, not the least of which is: What is emotion? In robotics, it is often used as an umbrella term for all things affective, but based on our previous work (see [1] for a summary), we believe that it would be more beneficial to model each affective phenomenon explicitly. Going beyond emotions brings the entire spectrum of affect into play, providing a comprehensive framework with which human-robot interaction could be improved. The robotic framework we propose that combines a number of different phenomena and emphasizes their interconnectedness and synergy is called TAME (Traits, Attitudes, Moods, Emotions). By using TAME, in this paper we’d like to address some of the open questions that arise in the area of implementing and testing humanoid affect.
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ItemLethality and Autonomous Systems: The Roboticist Demographic(Georgia Institute of Technology, 2008) Moshkina, Lilia ; Arkin, Ronald C.This paper reports the methods and results of an on-line survey addressing the issues surrounding lethality and autonomous systems that was conducted as part of a research project for the U.S. Army Research Office. The robotics researcher demographic, one of several targeted in this survey that includes policymakers, the military, and the general public, provides the data for this report. The design and administration of this survey and an analysis and discussion of the survey results are provided.
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ItemLethality and Autonomous Robots: An Ethical Stance(Georgia Institute of Technology, 2007) Arkin, Ronald C. ; Moshkina, LiliaThis paper addresses a difficult issue confronting the designers of intelligent robotic systems: their potential use of lethality in warfare. As part of an ARO-funded study, we are currently investigating the points of view of various demographic groups, including researchers, regarding this issue, as well as developing methods to engineer ethical safeguards into their use in the battlefield.
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ItemAn Integrative Framework for Time-Varying Affective Agent Behavior(Georgia Institute of Technology, 2006) Moshkina, LiliaRecent findings suggest that humans treat computers in a social way. Affect lies at the core of our social behavior; therefore, to capture this social nature of human interaction with computers and to provide a systematic way of including affect into such systems, we propose TAME - an integrative framework of affective agent behavior. This paper describes psychological and mathematical foundations for each of the TAME components: personality Traits, Attitudes, Moods and Emotions. An experiment to assess effectiveness of the proposed framework is also presented.
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ItemUsability Evaluation of an Automated Mission Repair Mechanism for Mobile Robot Mission Specification(Georgia Institute of Technology, 2005) Moshkina, Lilia ; Endo, Yoichiro ; Arkin, Ronald C.This paper describes a usability study designed to assess ease of use, user satisfaction, and performance of a mobile robot mission specification system. The software under consideration, MissionLab, allows users to specify a robot mission as well as compile it, execute it, and control the robot in real-time. In this work, a new automated mission repair mechanism that aids users in correcting faulty missions was added to the system. This mechanism was compared to an older version in order to better inform the development process, and set a direction for future improvements in usability.
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ItemHuman Perspective on Affective Robotic Behavior: A Longitudinal Study(Georgia Institute of Technology, 2004) Arkin, Ronald C. ; Moshkina, LiliaHumans are inherently social creatures, and affect plays no small role in their social nature. We use our emotional expressions to communicate our internal state, our moods assist or hinder our interactions on a daily basis, we constantly form lasting attitudes towards others, and our personalities make us uniquely predisposed to perform certain tasks. In this paper, we present a framework under development that combines these four areas of affect to influence robotic behavior, and describe initial results of a longitudinal human-robot interaction study. The study was designed to inform the design of the framework in order to increase ease and pleasantness of human-robot interaction.
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ItemOn TAMEing Robots(Georgia Institute of Technology, 2003) Arkin, Ronald C. ; Moshkina, LiliaThis paper presents a framework for affective robotic behavior (TAME) and describes an exploratory experimental study to identify relevant affective phenomena to include into the framework in order to increase ease and pleasantness of human-robot interaction.
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ItemThe Georgia Tech Yellow Jackets: A Marsupial Team for Urban Search and Rescue(Georgia Institute of Technology, 2002) Alegre, Fernando ; Balch, Tucker ; Berhault, Marc ; Dellaert, Frank ; Kaess, Michael ; McGuire, Robert ; Merrill, Ernest ; Moshkina, Lilia ; Ravichandran, Ram ; Walker, DanielWe describe our entry in the AAAI 2002 Urban Search and Rescue (USAR) competition, a marsupial team consisting of a larger wheeled robot and several small legged robots, carried around by the larger robot. This setup exploits complimentary strengths of each robot type in a challenging domain. We describe both the hardware and software architecture, and the on-board real-time mapping which forms the basis of accurate victim-localization crucial to the USAR domain. We also evaluate what challenges remain to be resolved in order to deploy search and rescue robots in realistic scenarios.