TY - CHAP A1 - Rotsidis, Alexandros A1 - Theodorou, Andreas A1 - Bryson, Joanna A1 - Wortham, Robert H. T1 - Improving Robot Transparency: An Investigation With Mobile Augmented Reality T2 - Paper presented at The 28th IEEE International Conference on Robot & Human Interactive Communication, New Delhi, India N2 - Autonomous robots can be difficult to understand by their developers, let alone by end users. Yet, as they become increasingly integral parts of our societies, the need for afford- able easy to use tools to provide transparency grows. The rise of the smartphone and the improvements in mobile computing performance have gradually allowed Augmented Reality (AR) to become more mobile and affordable. In this paper we review relevant robot systems architecture and propose a new software tool to provide robot transparency through the use of AR technology. Our new tool, ABOD3-AR provides real-time graphical visualisation and debugging of a robot’s goals and priorities as a means for both designers and end users to gain a better mental model of the internal state and decision making processes taking place within a robot. We also report on our on-going research programme and planned studies to further understand the effects of transparency to naive users and experts. Y1 - 2019 UR - https://researchportal.bath.ac.uk/en/publications/improving-robot-transparency-an-investigation-with-mobile-augment ER - TY - JOUR A1 - Wortham, Robert H. A1 - Gaudl, Swen E. A1 - Bryson, Joanna T1 - Instinct: A Biologically Inspired Reactive Planner for Intelligent Embedded Systems JF - Cognitive Systems Research N2 - The Instinct Planner is a new biologically inspired reactive planner, based on an established behaviour based robotics methodology and its reactive planner component—the POSH planner implementation. It includes several significant enhancements that facilitate plan design and runtime debugging. It has been specifically designed for low power processors and has a tiny memory footprint. Written in C++, it runs eciently on both Arduino(Atmel AVR) and Microsoft VC++ environments and has been deployed within a low cost maker robot to study AI Transparency. Plans may be authored using a variety of tools including a new visual design language, currently implemented using the Dia drawing package. Y1 - 2019 U6 - https://doi.org/10.1016/j.cogsys.2018.10.016 VL - 57 SP - 207 EP - 215 ER - TY - CHAP A1 - Wortham, Robert H. A1 - Bryson, Joanna ED - Prescott (et al.), Tony J. T1 - Communication T2 - Living Machines: A Handbook of Research in Biomimetic and Biohybrid Systems N2 - From a traditional engineering perspective, communication is about effecting control over a distance, and its primary concern is the reliability of transmission. This chapter reviews communication in nature, describing its evolution from the perspective of the selfish gene. Communication in nature is ubiquitous and generally honest, and arises as much from collaboration as manipulation. We show that context and relevance allow effective communication with little information transfer, particularly between organisms with similar capacities and goals. Human language differs fundamentally from the non-verbal communication we share with other animals; robots may need to accommodate both. We document progress in AI capacities to generate synthetic emotion and to sense and classify human emotion. Communication in contemporary biomimetic systems is between robots in swarm robotics, but also between robot and human for both autonomous and collaborative systems. We suggest increased future emphasis on capacities to receive and comprehend signs, and on the pragmatic utility of communication and cooperation. Y1 - 2018 SN - 9780199674923 U6 - https://doi.org/10.1093/oso/9780199674923.003.0033 SP - 312 EP - 326 ER -