We developed a task planning and execution framework enabling a human and an autonomous robot to work together shoulder-to-shoulder, sharing the workspace and the objects required to complete a task. The framework uses a model that affords social interaction, being goal-oriented on multiple nested levels. The collaborative framework based on this model includes self-assessment for mutual support, communication to support joint activity, performing dynamic meshing of sub-plans, and negotiating labor division via turn taking.
Papers: Hoffman & Breazeal 2004, Breazeal et al. 2005.