HARMONIC: Cognitive and Control Collaboration in Human-Robotic Teams
Abstract
This paper describes HARMONIC, a cognitive-robotic architecture that integrates the OntoAgent cognitive framework with general-purpose robot control systems applied to human-robot teaming (HRT). HARMONIC incorporates metacognition, meaningful natural language communication, and explainability capabilities required for developing mutual trust in HRT. Through simulation experiments involving a joint search task performed by a heterogeneous team of two HARMONIC-based robots and a human operator, we demonstrate heterogeneous robots that coordinate their actions, adapt to complex scenarios, and engage in natural human-robot communication. Evaluation results show that HARMONIC-based robots can reason about plans, goals, and team member attitudes while providing clear explanations for their decisions, which are essential requirements for realistic human-robot teaming.
Cite
@article{arxiv.2409.18047,
title = {HARMONIC: Cognitive and Control Collaboration in Human-Robotic Teams},
author = {Sanjay Oruganti and Sergei Nirenburg and Marjorie McShane and Jesse English and Michael K. Roberts and Christian Arndt and Sahithi Kamireddy and Carlos Gonzalez and Mingyo Seo and Luis Sentis},
journal= {arXiv preprint arXiv:2409.18047},
year = {2025}
}