Abstract
Autonomous underwater vehicles (AUVs) have long lagged behind other types of robots in supporting natural communication modes for human-robot interaction. Due to the limitations of the environment, most AUVs use digital displays or topside human-in-the-loop communications as their primary or only communication vectors. Natural methods for robotto-human communication such as robot “gestures” have been proposed, but never evaluated on non-simulated AUVs. In this paper, we enhance, implement and evaluate a robot-to-human communication system for AUVs called Robot Communication Via Motion (RCVM), which utilizes explicit motion phrases (kinemes) to communicate with a dive partner. We present a small pilot study that shows our implementation to be reasonably effective in person followed by a large-population study, comparing the communication effectiveness of our RCVM implementation to three baseline systems. Our results establish RCVM as an effective method of robot-to-human communication underwater and reveal the differences with more traditional communication vectors in how accurately communication is achieved at different viewpoints and types of information payloads.
Original language | English (US) |
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Title of host publication | Robotics |
Subtitle of host publication | Science and Systems |
Editors | Kris Hauser, Dylan Shell, Shoudong Huang |
Publisher | MIT Press Journals |
ISBN (Print) | 9780992374785 |
DOIs | |
State | Published - 2022 |
Event | 18th Robotics: Science and Systems, RSS 2022 - New York City, United States Duration: Jun 27 2022 → … |
Publication series
Name | Robotics: Science and Systems |
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ISSN (Electronic) | 2330-765X |
Conference
Conference | 18th Robotics: Science and Systems, RSS 2022 |
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Country/Territory | United States |
City | New York City |
Period | 6/27/22 → … |
Bibliographical note
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