Autonomy and Common Ground in Human-Robot Interaction: A Field Study

Abstract

The use of robots, especially autonomous mobile robots, to support work is expected to increase over the next few decades. However, little empirical research examines how users form mental models of robots, how they collaborate with them, and what factors contribute to the success or failure of human-robot collaboration. A two-year observational study of a collaborative human-robot system suggests that the factors disrupting the creation of common ground for interactive communication change at different levels of robot autonomy. Our observations of users collaborating with the remote robot showed differences in how the users reached common ground with the robot in terms of an accurate, shared understanding of the robot's context, planning, and actions - a process called grounding. We focus on how the types and levels of robot autonomy affect grounding. We also examine the challenges a highly autonomous system presents to people's ability to maintain a shared mental model of the robot