| Title | A POMDP-based Robot-Human Trust Model for Human-Robot Collaboration |
| Publication Type | Conference Paper |
| Year of Publication | 2022 |
| Authors | Tilloo, Pallavi, Parron, Jesse, Obidat, Omar, Zhu, Michelle, Wang, Weitian |
| Conference Name | 2022 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER) |
| Keywords | belief probability, Collaboration, Computational modeling, Data models, Human Behavior, human factors, human-robot collaboration, Manufacturing industries, Markov processes, object detection, pomdp, pubcrawl, resilience, Resiliency, Robot Trust, Robotics, Service robots, Trust |
| Abstract | Trust is a cognitive ability that can be dependent on behavioral consistency. In this paper, a partially observable Markov Decision Process (POMDP)-based computational robot-human trust model is proposed for hand-over tasks in human-robot collaborative contexts. The robot's trust in its human partner is evaluated based on the human behavior estimates and object detection during the hand-over task. The human-robot hand-over process is parameterized as a partially observable Markov Decision Process. The proposed approach is verified in real-world human-robot collaborative tasks. Results show that our approach can be successfully applied to human-robot hand-over tasks to achieve high efficiency, reduce redundant robot movements, and realize predictability and mutual understanding of the task. |
| Notes | ISSN: 2642-6633 |
| DOI | 10.1109/CYBER55403.2022.9907660 |
| Citation Key | tilloo_pomdp-based_2022 |
A POMDP-based Robot-Human Trust Model for Human-Robot Collaboration