PMID- 36277304
OWN - NLM
STAT- PubMed-not-MEDLINE
LR  - 20221125
IS  - 1875-4791 (Print)
IS  - 1875-4805 (Electronic)
IS  - 1875-4791 (Linking)
VI  - 14
IP  - 9
DP  - 2022
TI  - MoTiS Parameters for Expressive Multi-Robot Systems: Relative Motion, Timing, and 
      Spacing.
PG  - 1965-1993
LID - 10.1007/s12369-022-00936-4 [doi]
AB  - Multi-robot systems are moving into human spaces, such as working with people in 
      factories (Bacula et al., in: Companion of the 2020 ACM/IEEE international 
      conference on human-robot interaction, pp 119-121, 2020) or in emergency support 
      (Wagner in Front Robot AI 8, 2021; Baxter et al., in: Autonomous robots and 
      agents, Springer, pp 9-16, 2007) and it is crucial to consider how robots can 
      communicate with the humans in the space. Our work evaluates a parameter 
      framework to allow multi-robot groups of x, y, theta robots to effectively 
      communicate using expressive motion. While expressive motion has been extensively 
      studied in single robots (Knight et al., in: 2016 IEEE international conference 
      on intelligent robots and systems (IROS), IEEE, 2016; Bacula and LaViers in Int J 
      Soc Robot, 1-16, 2020; Dragan et al., in: 2013 8th ACM/IEEE international 
      conference on human-robot interaction (HRI), IEEE, pp 301-308, 2013; Kirby et 
      al., in: The 18th IEEE international symposium on robot and human interactive 
      communication, 2009, RO-MAN 2009, IEEE, pp 607-612, 2009), moving to multi-robots 
      creates new challenges as the state space expands and becomes more complex. We 
      evaluate a hierarchical framework of six parameters to generate multi-robot 
      expressive motion consisting of: (1) relative direction, (2) coherence, (3) 
      relative speed, (4) relative start time, (5) proximity, and (6) geometry. We 
      conducted six independent online studies to explore each parameter, finding that 
      four out of six of the parameters had significant impact on people's perception 
      of the multi-robot group. Additional takeaways of our studies clarify what humans 
      interpret as a robot group, when the group is perceived positively versus 
      negatively, and the critical role of architectural floor plan in interpreting 
      robot intent.
CI  - (c) The Author(s), under exclusive licence to Springer Nature B.V. 2022, Springer 
      Nature or its licensor holds exclusive rights to this article under a publishing 
      agreement with the author(s) or other rightsholder(s); author self-archiving of 
      the accepted manuscript version of this article is solely governed by the terms 
      of such publishing agreement and applicable law.
FAU - Bacula, A
AU  - Bacula A
AUID- ORCID: 0000-0001-8135-9899
AD  - Collaborative Robotics and Intelligent Systems Institute, Oregon State 
      University, Corvallis, OR 97331 USA. GRID: grid.4391.f. ISNI: 0000 0001 2112 1969
FAU - Knight, H
AU  - Knight H
AD  - Collaborative Robotics and Intelligent Systems Institute, Oregon State 
      University, Corvallis, OR 97331 USA. GRID: grid.4391.f. ISNI: 0000 0001 2112 1969
LA  - eng
PT  - Journal Article
DEP - 20221017
PL  - Netherlands
TA  - Int J Soc Robot
JT  - International journal of social robotics
JID - 101622429
PMC - PMC9576134
OTO - NOTNLM
OT  - Expressivity
OT  - Human-robot interaction
OT  - Multi-robot systems
OT  - Social robotics
EDAT- 2022/10/25 06:00
MHDA- 2022/10/25 06:01
PMCR- 2022/10/17
CRDT- 2022/10/24 04:30
PHST- 2022/10/05 00:00 [accepted]
PHST- 2022/10/25 06:00 [pubmed]
PHST- 2022/10/25 06:01 [medline]
PHST- 2022/10/24 04:30 [entrez]
PHST- 2022/10/17 00:00 [pmc-release]
AID - 936 [pii]
AID - 10.1007/s12369-022-00936-4 [doi]
PST - ppublish
SO  - Int J Soc Robot. 2022;14(9):1965-1993. doi: 10.1007/s12369-022-00936-4. Epub 2022 
      Oct 17.