Towards modelling group-robot interactions using a qualitative spatial representation

This paper tackles the problem of finding a suitable qualitative representation for robots to reason about activity spaces where they carry out tasks interacting with a group of people. The Qualitative Spatial model for Group Robot Interaction (QS-GRI) defines Kendon-formations depending on: (i) the relative location of the robot with respect to other individuals involved in that interaction; (ii) the individuals' orientation; (iii) the shared peri-personal distance; and (iv) the role of the individuals (observer, main character or interactive). The evolution of Kendon-formations between is studied, that is, how one formation is transformed into another. These transformations can depend on the role that the robot have, and on the amount of people involved.Postprint (author's final draft

Choreographic and Somatic Approaches for the Development of Expressive Robotic Systems

As robotic systems are moved out of factory work cells into human-facing environments questions of choreography become central to their design, placement, and application. With a human viewer or counterpart present, a system will automatically be interpreted within context, style of movement, and form factor by human beings as animate elements of their environment. The interpretation by this human counterpart is critical to the success of the system's integration: knobs on the system need to make sense to a human counterpart; an artificial agent should have a way of notifying a human counterpart of a change in system state, possibly through motion profiles; and the motion of a human counterpart may have important contextual clues for task completion. Thus, professional choreographers, dance practitioners, and movement analysts are critical to research in robotics. They have design methods for movement that align with human audience perception, can identify simplified features of movement for human-robot interaction goals, and have detailed knowledge of the capacity of human movement. This article provides approaches employed by one research lab, specific impacts on technical and artistic projects within, and principles that may guide future such work. The background section reports on choreography, somatic perspectives, improvisation, the Laban/Bartenieff Movement System, and robotics. From this context methods including embodied exercises, writing prompts, and community building activities have been developed to facilitate interdisciplinary research. The results of this work is presented as an overview of a smattering of projects in areas like high-level motion planning, software development for rapid prototyping of movement, artistic output, and user studies that help understand how people interpret movement. Finally, guiding principles for other groups to adopt are posited.Comment: Under review at MDPI Arts Special Issue "The Machine as Artist (for the 21st Century)" http://www.mdpi.com/journal/arts/special_issues/Machine_Artis

Emerging robot swarm traffic

We discuss traffic patterns generated by swarms of robots while commuting to and from a base station. The overall question is whether to explicitly organise the traffic or whether a certain regularity develops `naturally'. Human driven motorized traffic is rigidly structured in two lanes. However, army ants develop a three-lane pattern in their traffic, while human pedestrians generate a main trail and secondary trials in either direction. Our robot swarm approach is bottom-up: designing individual agents we first investigate the mathematics of cases occurring when applying the artificial potential field method to three 'perfect' robots. We show that traffic lane pattern will not be disturbed by the internal system of forces. Next, we define models of sensor designs to account for the practical fact that robots (and ants) have limited visibility and compare the sensor models in groups of three robots. In the final step we define layouts of a highway: an unbounded open space, a trail with surpassable edges and a hard defined (walled) highway. Having defined the preliminaries we run swarm simulations and look for emerging traffic patterns. Apparently, depending on the initial situation a variety of lane patterns occurs, however, high traffic densities do delay the emergence of traffic lanes considerably. Overall we conclude that regularities do emerge naturally and can be turned into an advantage to obtain efficient robot traffic

Research statement

My research lies in the domain of visual media, and graphic representation in particular. I seek a scientifically-grounded understanding of established and emerging conventions in the fine & applied visual arts. This is a perceptual-cognitive approach to understanding visual media

Implementing 5D BIM on construction projects: Contractor perspectives from the UK construction sector

This is an accepted manuscript of an article published by Emerald in Journal of Engineering, Design and Technology on 09/05/2020: https://doi.org/10.1108/JEDT-01-2020-0007 The accepted version of the publication may differ from the final published version.Purpose The purpose of this paper is to report on primary research findings that sought to investigate and analyse salient issues on the implementation of 5D building information modelling (BIM) from the UK contractors’ perspective. Previous research and efforts have predominantly focussed on the use of technologies for cost estimation and quantity takeoff within a more traditional-led procurement, with a paucity of research focussing on how 5D BIM could facilitate costing within contractor-led procurement. This study fills this current knowledge gap and enhances the understanding of the specific costing challenges faced by contractors in contractor-led projects, leading to the development of 5D framework for use in future projects. Design/methodology/approach To develop a fully detailed understanding of the challenges and issues being faced in this regard, a phenomenological, qualitative-based study was undertaken through interviews involving 21 participants from UK-wide construction organisations. A thematic data analytical process was applied to the data to derive key issues, and this was then used to inform the development of a 5D-BIM costing framework. Findings Multi-disciplinary findings reveal a range of issues faced by contractors when implementing 5D BIM. These exist at strategic, operational and technological levels which require addressing successful implementation of 5D BIM on contractor-led projects adhering to Level 2 BIM standards. These findings cut across the range of stakeholders on contractor-led projects. Ultimately, the findings suggest strong commitment and leadership from organisational management are required to facilitate cost savings and generate accurate cost information. Practical implications This study highlights key issues for any party seeking to effectively deploy 5D BIM on a contractor-led construction project. A considerable cultural shift towards automating and digitising cost functions virtually, stronger collaborative working relationship relative to costing in design development, construction practice, maintenance and operation is required. Originality/value By analysing findings from primary research data, the work concludes with the development of a 5D BIM costing framework to support contractor-led projects which can be implemented to ensure that 5D BIM is successfully implemented

Qualitative Spatial and Temporal Reasoning based on And/Or Linear Programming An approach to partially grounded qualitative spatial reasoning

Acting intelligently in dynamic environments involves anticipating surrounding processes, for example to foresee a dangerous situation or acceptable social behavior. Knowledge about spatial configurations and how they develop over time enables intelligent robots to safely navigate by reasoning about possible actions. The seamless connection of high-level deliberative processes to perception and action selection remains a challenge though. Moreover, an integration should allow the robot to build awareness of these processes as in reality there will be misunderstandings a robot should be able to respond to. My aim is to verify that actions selected by the robot do not violate navigation or safety regulations and thereby endanger the robot or others. Navigation rules specified qualitatively allow an autonomous agent to consistently combine all rules applicable in a context. Within this thesis, I develop a formal, symbolic representation of right-of-way-rules based on a qualitative spatial representation. This cumulative dissertation consists of 5 peer-reviewed papers and 1 manuscript under review. The contribution of this thesis is an approach to represent navigation patterns based on qualitative spatio-temporal representation and the development of corresponding effective sound reasoning techniques. The approach is based on a spatial logic in the sense of Aiello, Pratt-Hartmann, and van Benthem. This logic has clear spatial and temporal semantics and I demonstrate how it allows various navigation rules and social conventions to be represented. I demonstrate the applicability of the developed method in three different areas, an autonomous robotic system in an industrial setting, an autonomous sailing boat, and a robot that should act politely by adhering to social conventions. In all three settings, the navigation behavior is specified by logic formulas. Temporal reasoning is performed via model checking. An important aspect is that a logic symbol, such as \emph{turn left}, comprises a family of movement behaviors rather than a single pre-specified movement command. This enables to incorporate the current spatial context, the possible changing kinematics of the robotic system, and so on without changing a single formula. Additionally, I show that the developed approach can be integrated into various robotic software architectures. Further, an answer to three long standing questions in the field of qualitative spatial reasoning is presented. Using generalized linear programming as a unifying basis for reasoning, one can jointly reason about relations from different qualitative calculi. Also, concrete entities (fixed points, regions fixed in shape and/or position, etc.) can be mixed with free variables. In addition, a realization of qualitative spatial description can be calculated, i.e., a specific instance/example. All three features are important for applications but cannot be handled by other techniques. I advocate the use of And/Or trees to facilitate efficient reasoning and I show the feasibility of my approach. Last but not least, I investigate a fourth question, how to integrate And/Or trees with linear temporal logic, to enable spatio-temporal reasoning

Individuality and the collective in AI agents: Explorations of shared consciousness and digital homunculi in the metaverse for cultural heritage

The confluence of extended reality (XR) technologies, including augmented and virtual reality, with large language models (LLM) marks a significant advancement in the field of digital humanities, opening uncharted avenues for the representation of cultural heritage within the burgeoning metaverse. This paper undertakes an examination of the potentialities and intricacies of such a convergence, focusing particularly on the creation of digital homunculi or changelings. These virtual beings, remarkable for their sentience and individuality, are also part of a collective consciousness, a notion explored through a thematic comparison in science fiction with the Borg and the Changelings in the Star Trek universe. Such a comparison offers a metaphorical framework for discussing complex phenomena such as shared consciousness and individuality, illuminating their bearing on perceptions of self and awareness. Further, the paper considers the ethical implications of these concepts, including potential loss of individuality and the challenges inherent to accurate representation of historical figures and cultures. The latter necessitates collaboration with cultural experts, underscoring the intersectionality of technological innovation and cultural sensitivity. Ultimately, this chapter contributes to a deeper understanding of the technical aspects of integrating large language models with immersive technologies and situates these developments within a nuanced cultural and ethical discourse. By offering a comprehensive overview and proposing clear recommendations, the paper lays the groundwork for future research and development in the application of these technologies within the unique context of cultural heritage representation in the metaverse