@inproceedings{55504bf9930d4a27b6bd8a5e623be39b,
title = "A POMDP-based Robot-Human Trust Model for Human-Robot Collaboration",
abstract = "Trust is a cognitive ability that can be dependent on behavioral consistency. In this paper, a partially observable Markov Decision Process (POMDP)-based computational robot-human trust model is proposed for hand-over tasks in human-robot collaborative contexts. The robot's trust in its human partner is evaluated based on the human behavior estimates and object detection during the hand-over task. The human-robot hand-over process is parameterized as a partially observable Markov Decision Process. The proposed approach is verified in real-world human-robot collaborative tasks. Results show that our approach can be successfully applied to human-robot hand-over tasks to achieve high efficiency, reduce redundant robot movements, and realize predictability and mutual understanding of the task.",
keywords = "belief probability, human-robot collaboration, POMDP, robotics, trust",
author = "Pallavi Tilloo and Jesse Parron and Omar Obidat and Michelle Zhu and Weitian Wang",
note = "Funding Information: ACKNOWLEDGMENT This work was supported in part by the National Science Foundation under Grant CNS-2104742 and in part by the National Science Foundation under Grant CNS-2117308. Publisher Copyright: {\textcopyright} 2022 IEEE.; null ; Conference date: 27-07-2022 Through 31-07-2022",
year = "2022",
doi = "10.1109/CYBER55403.2022.9907660",
language = "English",
series = "2022 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2022",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1009--1014",
booktitle = "2022 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2022",
}