This article presents a survey of literature in the area of Human-Robot Interaction (HRI), specifically on systems containing more than two agents (i.e., having multiple humans and/or multiple robots). We identify three core aspects of ``Multi-agent" HRI systems that are useful for understanding how these systems differ from dyadic systems and from one another. These are the Team structure, Interaction style among agents, and the system's Computational characteristics. Under these core aspects, we present five attributes of HRI systems, namely Team size, Team composition, Interaction model, Communication modalities, and Robot control. These attributes are used to characterize and distinguish one system from another. We populate resulting categories with examples from recent literature along with a brief discussion of their applications and analyze how these attributes differ from the case of dyadic human-robot systems. We summarize key observations from the current literature, and identify challenges and promising areas for future research in this domain. In order to realize the vision of robots being part of the society and interacting seamlessly with humans, there is a need to expand research on multi-human -- multi-robot systems. Not only do these systems require coordination among several agents, they also involve multi-agent and indirect interactions which are absent from dyadic HRI systems. Adding multiple agents in HRI systems requires advanced interaction schemes, behavior understanding and control methods to allow natural interactions among humans and robots. In addition, research on human behavioral understanding in mixed human-robot teams also requires more attention. This will help formulate and implement effective robot control policies in HRI systems with large numbers of heterogeneous robots and humans; a team composition reflecting many real-world scenarios.
翻译:本文展示了人类机器人互动(HRI)领域的文献调查, 特别是包含两个以上物剂的系统( 拥有多个人和/ 或多个机器人) 。 我们确定了“ 多边代理” HRI 系统的三个核心方面, 有助于了解这些系统与三角系统的不同之处。 这些是团队结构、 各种物剂之间的互动风格和系统计算特征。 在这些核心方面, 我们展示了五大人权系统特征, 即团队规模、 团队构成、 互动模型、 通信模式和机器人控制。 这些属性被用来描述和区分一个系统。 我们用最近文献中的例子来展示这些系统的应用,分析这些特性与三角系统不同之处。 我们总结了当前文献中的关键观察,并确定了该领域未来研究的挑战和前景。 为了实现机器人与社会的一部分以及人类的无缝互动。 为了实现机器人的愿景, 有必要扩大关于多人类- 多组织互动体系的研究, 多组织服务器系统也需要多种行为互动, 并且只要求多项人际服务器系统 。