让机器人懂人、会沟通，提升人机协作信任度。
HARMONIC: Cognitive and Control Collaboration in Human-Robotic Teams
- 融合认知框架与通用控制，实现机器人自我反思与自然语言交流
- 在异构团队搜索任务中，机器人能协同决策并适应复杂场景
- 可解释决策过程，适合需高可信度的人机协作场景
本文介绍HARMONIC，一种将OntoAgent认知框架与通用机器人控制系统结合的认知-机器人架构，应用于人机协同（HRT）。HARMONIC整合了元认知、有意义的自然语言通信及可解释性能力，以建立人机间的相互信任。通过包含两名基于HARMONIC的机器人和一名人类操作员的异构团队联合搜索任务模拟实验，验证了机器人能够协调行动、适应复杂情境，并进行自然的人机对话。评估结果表明，基于HARMONIC的机器人可推理计划、目标及团队成员态度，并提供清晰的决策解释，满足真实人机协同的核心需求。
原文摘要 · Abstract (English)
This paper describes HARMONIC, a cognitive-robotic architecture that integrates the OntoAgent cognitive framework with general-purpose robot control systems applied to human-robot teaming (HRT). HARMONIC incorporates metacognition, meaningful natural language communication, and explainability capabilities required for developing mutual trust in HRT. Through simulation experiments involving a joint search task performed by a heterogeneous team of two HARMONIC-based robots and a human operator, we demonstrate heterogeneous robots that coordinate their actions, adapt to complex scenarios, and engage in natural human-robot communication. Evaluation results show that HARMONIC-based robots can reason about plans, goals, and team member attitudes while providing clear explanations for their decisions, which are essential requirements for realistic human-robot teaming.
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