Sihui Li and Sriram Siva and Terran Mott and Tom Williams and Hao Zhang and Neil Dantam


IEEE International Symposium on Robot-Human Interactive Communication

Publication Year

In this paper, we explore how robots can properly explain failures during navigation tasks with privacy concerns. We present an integrated robotics approach to generate visual failure explanations, by combining a language-capable cognitive architecture (for recognizing intent behind commands), an object- and location-based context recognition system (for identifying the locations of people and classifying the context in which those people are situated) and an infeasibility proof-based motion planner (for explaining planning failures on the basis of contextually mediated privacy concerns). The behavior of this integrated system is validated using a series of experiments in a simulated medical environment.