Carnegie Mellon University
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The First Segway Soccer Experience: Towards Peer-to-Peer Human-Robot Teams

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posted on 2006-01-01, 00:00 authored by Brenna Argall, Yang Gu, Brett Browning
In this paper, we focus on human-robot interaction in a team task where we identify the need for peer-to-peer (P2P) teamwork, with no fixed hierarchy for decision making be- tween robots and humans. Instead, all team members are equal participants and decision making is truly distributed. We have fully developed a P2P team within Segway Soccer, a research domain, built upon Robocup robot soccer, that we have introduced to explore the challenge of P2P coor- dination in human-robot teams with dynamic, adversarial tasks. We recently participated in the first Segway Soccer games between two competing teams at the 2005 RoboCup US Open. We believe these games are the first ever between two human-robot P2P teams. Based on the competition, we realized two different approaches to P2P teams. We present our robot-centric approach to P2P team coordination and contrast it to the human-centric approach of the opponent team.


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Copyright © 2006 by the Association for Computing Machinery, Inc. Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, to republish, to post on servers, or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from Publications Dept., ACM, Inc., fax +1 (212) 869-0481, or © ACM, 2006. This is the author's version of the work. It is posted here by permission of ACM for your personal use. Not for redistribution. The definitive version was published in the Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction {1-59593-294-1 (2006)}



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