Failure Explanation in Privacy-Sensitive Contexts: An Integrated Systems Approach
2023 32ND IEEE INTERNATIONAL CONFERENCE ON ROBOT AND HUMAN INTERACTIVE COMMUNICATION, RO-MAN(2023)
摘要
In this paper, we explore how robots can properly explain failures during navigation tasks with privacy concerns. We present an integrated robotics approach to generate visual failure explanations, by combining a language-capable cognitive architecture (for recognizing intent behind commands), an object- and location-based context recognition system (for identifying the locations of people and classifying the context in which those people are situated) and an infeasibility proof-based motion planner (for explaining planning failures on the basis of contextually mediated privacy concerns). The behavior of this integrated system is validated using a series of experiments in a simulated medical environment.
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