Expressive lights for revealing mobile service robot state

K. Baraka, A. Paiva, M. Veloso

Research output: Chapter in Book / Report / Conference proceedingConference contributionAcademicpeer-review


© Copyright 2015, Association for the Advancement of Artificial Intelligence ( All rights reserved.Autonomous mobile service robots move in our buildings, carrying out different tasks and traversing multiple floors. While moving and performing their tasks, these robots find themselves in a variety of states. Although speech is often used for communicating the robot's state to humans, such communication can often be ineffective, due to the transient nature of speech. In this paper, we investigate the use of lights as a persistent visualization of the robot's state in relation to both tasks and environmental factors. Programmable lights offer a large degree of choices in terms of animation pattern, color and speed. We present this space of choices and introduce different animation profiles that we consider to animate a set of programmable lights on the robot. We conduct experiments to query about suitable animations for three representative scenarios of an autonomous symbiotic service robot, CoBot. Our work enables CoBot to make its states persistently visible to the humans it interacts with.
Original languageEnglish
Title of host publicationArtificial Intelligence for Human-Robot Interaction - Papers from the AAAI 2015 Fall Symposium, Technical Report
PublisherAI Access Foundation
ISBN (Electronic)9781577357476
Publication statusPublished - 2015
Externally publishedYes
EventAAAI 2015 Fall Symposium - Arlington, United States
Duration: 12 Nov 201514 Nov 2015


ConferenceAAAI 2015 Fall Symposium
Country/TerritoryUnited States


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