A knowledge model-based coordinator robot for symbiotic autonomous human-robot system

This paper proposes a knowledge model-based coordinator robot, in order to realize coordination of tasks by robot instead of human being according to human requests in a symbiotic autonomous human-robot system. This coordinator robot is constructed based on a knowledge model of coordination. In this model, a physical domain world on coordination is modeled by a description world, including interpreter for the human request domain, coordination interface for the problem domain, coordination policy for the solution domain, etc. In this paper, a coordinator robot is implemented by means of a software platform and distributed intelligent agents. The experimental work with using actual robots demonstrates the effectiveness of the proposed method.