A comparison between behavioural architectures, specifically a BDI architecture and a finite-state machine, for a collaborative package delivery system is presented. The system should assist a user in handling packages in cluttered environments. The entire system is built using open-source solutions for modules including speech recognition, person detection and tracking, and navigation. For the comparison, we use three criteria, namely, a static implementation-based comparison, a dynamic comparison and a qualitative comparison. Based on our results, we provide experimental evidence that supports the theoretical consensus about the domain of applicability for both, BDI architectures and finite-state machines. However, we cannot support or discourage any of the tested architectures for the particular case of the collaborative package delivery scenario, due to the non-overlapping strengths and weakness of both approaches. Finally, we outline future improvements to the system itself as well as the comparison of both behavioural architectures.
%0 Conference Paper
%1 Remmels2017Comparison
%A Remmels, Melanie
%A Navarro-Guerrero, Nicolás
%A Wermter, Stefan
%B International Conference on Human-Agent Interaction (HAI)
%C Bielefeld, Germany
%D 2017
%I ACM
%K myown
%P 121--129
%R 10.1145/3125739.3125764
%T Comparison of Behaviour-Based Architectures for Human-Robot Collaboration in a Package Delivery Task
%U https://dl.acm.org/citation.cfm?doid=3125739.3125764
%V 5th
%X A comparison between behavioural architectures, specifically a BDI architecture and a finite-state machine, for a collaborative package delivery system is presented. The system should assist a user in handling packages in cluttered environments. The entire system is built using open-source solutions for modules including speech recognition, person detection and tracking, and navigation. For the comparison, we use three criteria, namely, a static implementation-based comparison, a dynamic comparison and a qualitative comparison. Based on our results, we provide experimental evidence that supports the theoretical consensus about the domain of applicability for both, BDI architectures and finite-state machines. However, we cannot support or discourage any of the tested architectures for the particular case of the collaborative package delivery scenario, due to the non-overlapping strengths and weakness of both approaches. Finally, we outline future improvements to the system itself as well as the comparison of both behavioural architectures.
%@ 978-1-4503-5113-3
@inproceedings{Remmels2017Comparison,
abstract = {A comparison between behavioural architectures, specifically a BDI architecture and a finite-state machine, for a collaborative package delivery system is presented. The system should assist a user in handling packages in cluttered environments. The entire system is built using open-source solutions for modules including speech recognition, person detection and tracking, and navigation. For the comparison, we use three criteria, namely, a static implementation-based comparison, a dynamic comparison and a qualitative comparison. Based on our results, we provide experimental evidence that supports the theoretical consensus about the domain of applicability for both, BDI architectures and finite-state machines. However, we cannot support or discourage any of the tested architectures for the particular case of the collaborative package delivery scenario, due to the non-overlapping strengths and weakness of both approaches. Finally, we outline future improvements to the system itself as well as the comparison of both behavioural architectures.},
added-at = {2018-01-06T19:04:01.000+0100},
address = {Bielefeld, Germany},
author = {Remmels, Melanie and Navarro-Guerrero, Nicol{\'a}s and Wermter, Stefan},
biburl = {https://www.bibsonomy.org/bibtex/218debd6c5abb745630c24ed41cb9a435/nng},
booktitle = {International {Conference} on {Human}-{Agent} {Interaction} ({HAI})},
doi = {10.1145/3125739.3125764},
interhash = {cd0cbcc4865acc403a0c9a698b0ad358},
intrahash = {18debd6c5abb745630c24ed41cb9a435},
isbn = {978-1-4503-5113-3},
keywords = {myown},
month = oct,
pages = {121--129},
publisher = {ACM},
timestamp = {2018-01-06T19:06:00.000+0100},
title = {Comparison of {Behaviour}-{Based} {Architectures} for {Human}-{Robot} {Collaboration} in a {Package} {Delivery} {Task}},
url = {https://dl.acm.org/citation.cfm?doid=3125739.3125764},
volume = {5th},
year = 2017
}