TY - JOUR
T1 - BWIBots: A platform for bridging the gap between AI and human–robot interaction research
AU - Khandelwal, Piyush
AU - Zhang, Shiqi
AU - Sinapov, Jivko
AU - Leonetti, Matteo
AU - Thomason, Jesse
AU - Yang, Fangkai
AU - Gori, Ilaria
AU - Svetlik, Maxwell
AU - Khante, Priyanka
AU - Lifschitz, Vladimir
AU - Aggarwal, null
AU - Mooney, Raymond
AU - Stone, Peter
PY - 2017/2/1
Y1 - 2017/2/1
N2 - Recent progress in both AI and robotics have enabled the development of general purpose robot platforms that are capable of executing a wide variety of complex, temporally extended service tasks in open environments. This article introduces a novel, custom-designed multi-robot platform for research on AI, robotics, and especially human–robot interaction for service robots. Called BWIBots, the robots were designed as a part of the Building-Wide Intelligence (BWI) project at the University of Texas at Austin. The article begins with a description of, and justification for, the hardware and software design decisions underlying the BWIBots, with the aim of informing the design of such platforms in the future. It then proceeds to present an overview of various research contributions that have enabled the BWIBots to better (a) execute action sequences to complete user requests, (b) efficiently ask questions to resolve user requests, (c) understand human commands given in natural language, and (d) understand human intention from afar. The article concludes with a look forward towards future research opportunities and applications enabled by the BWIBot platform.
AB - Recent progress in both AI and robotics have enabled the development of general purpose robot platforms that are capable of executing a wide variety of complex, temporally extended service tasks in open environments. This article introduces a novel, custom-designed multi-robot platform for research on AI, robotics, and especially human–robot interaction for service robots. Called BWIBots, the robots were designed as a part of the Building-Wide Intelligence (BWI) project at the University of Texas at Austin. The article begins with a description of, and justification for, the hardware and software design decisions underlying the BWIBots, with the aim of informing the design of such platforms in the future. It then proceeds to present an overview of various research contributions that have enabled the BWIBots to better (a) execute action sequences to complete user requests, (b) efficiently ask questions to resolve user requests, (c) understand human commands given in natural language, and (d) understand human intention from afar. The article concludes with a look forward towards future research opportunities and applications enabled by the BWIBot platform.
KW - Artificial intelligence
KW - Human-robot interaction
KW - Indoor autonomous navigation
KW - Multi-robot system
KW - Natural language dialog system
KW - Robot task planning
UR - https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85041951110&origin=inward
UR - https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=85041951110&origin=inward
U2 - 10.1177/0278364916688949
DO - 10.1177/0278364916688949
M3 - Article
SN - 0278-3649
VL - 36
SP - 635
EP - 659
JO - International Journal of Robotics Research
JF - International Journal of Robotics Research
IS - 5-7
ER -