“Grip-that-there”: An Investigation of Explicit and Implicit Task Allocation Techniques for Human-Robot Collaboration

  title={“Grip-that-there”: An Investigation of Explicit and Implicit Task Allocation Techniques for Human-Robot Collaboration},
  author={Karthik Mahadevan and Maur{\'i}cio Sousa and Anthony Tang and Tovi Grossman},
  journal={Proceedings of the 2021 CHI Conference on Human Factors in Computing Systems},
In ad-hoc human-robot collaboration (HRC), humans and robots work on a task without pre-planning the robot's actions prior to execution; instead, task allocation occurs in real-time. However, prior research has largely focused on task allocations that are pre-planned - there has not been a comprehensive exploration or evaluation of techniques where task allocation is adjusted in real-time. Inspired by HCI research on territoriality and proxemics, we propose a design space of novel task… 

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