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By Land, Air, or Sea: Multi-Domain Robot Communication Via Motion

2019-03-07 19:21:26
Michael Fulton, Mustaf Ahmed, Junaed Sattar


In this paper, we explore the use of motion for robot-to-human communication on three robotic platforms: the 5 degrees-of-freedom (DOF) Aqua autonomous underwater vehicle (AUV), a 3-DOF camera gimbal mounted on a Matrice 100 drone, and a 3-DOF Turtlebot2 terrestrial robot. While we previously explored the use of body language-like motion (called kinemes) versus other methods of communication for the Aqua AUV, we now extend those concepts to robots in two new and different domains. We evaluate all three platforms using a small interaction study where participants use gestures to communicate with the robot, receive information from the robot via kinemes, and then take actions based on the information. To compare the three domains we consider the accuracy of these interactions, the time it takes to complete them, and how confident users feel in the success of their interactions. The kineme systems perform with reasonable accuracy for all robots and experience gained in this study is used to form a set of prescriptions for further development of kineme systems.

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3D Action Action_Localization Action_Recognition Activity Adversarial Attention Autonomous Bert Boundary_Detection Caption Classification CNN Compressive_Sensing Contour Contrastive_Learning Deep_Learning Denoising Detection Drone Dynamic_Memory_Network Edge_Detection Embedding Emotion Enhancement Face Face_Detection Face_Recognition Facial_Landmark Few-Shot Gait_Recognition GAN Gaze_Estimation Gesture Gradient_Descent Handwriting Human_Parsing Image_Caption Image_Classification Image_Compression Image_Enhancement Image_Generation Image_Matting Image_Retrieval Inference Inpainting Intelligent_Chip Knowledge Knowledge_Graph Language_Model Matching Medical Memory_Networks Multi_Modal Multi_Task NAS NMT Object_Detection Object_Tracking OCR Ontology Optical_Character Optical_Flow Optimization Person_Re-identification Point_Cloud Portrait_Generation Pose Pose_Estimation Prediction QA Quantitative Quantitative_Finance Quantization Re-identification Recognition Recommendation Reconstruction Regularization Reinforcement_Learning Relation Relation_Extraction Represenation Represenation_Learning Restoration Review RNN Salient Scene_Classification Scene_Generation Scene_Parsing Scene_Text Segmentation Self-Supervised Semantic_Instance_Segmentation Semantic_Segmentation Semi_Global Semi_Supervised Sence_graph Sentiment Sentiment_Classification Sketch SLAM Sparse Speech Speech_Recognition Style_Transfer Summarization Super_Resolution Surveillance Survey Text_Classification Text_Generation Tracking Transfer_Learning Transformer Unsupervised Video_Caption Video_Classification Video_Indexing Video_Prediction Video_Retrieval Visual_Relation VQA Weakly_Supervised Zero-Shot