Coactive Design is a new approach to address the increasingly sophisticated roles that people and robots play as the use of robots expands into new, complex domains. The approach is motivated by the desire for robots to perform less like teleoperated tools or independent automatons and more like interdependent teammates. In this article, we describe what it means to be interdependent, why this is important, and the design implications that follow from this perspective. We argue for a human-robot system model that supports interdependence through careful attention to requirements for observability, predictability, and directability. We present a Coactive Design method and show how it can be a useful approach for developers trying to understand how to translate high-level teamwork concepts into reusable control algorithms, interface elements, and behaviors that enable robots to fulfill their envisioned role as teammates. As an example of the coactive design approach, we present our results from the DARPA Virtual Robotics Challenge, a competition designed to spur development of advanced robots that can assist humans in recovering from natural and man-made disasters. Twenty-six teams from eight countries competed in three different tasks providing an excellent evaluation of the relative effectiveness of different approaches to human-machine system design.

This paper introduces the concept of Coactivity as a new focal point for Human-Robot Interaction to address the more sophisticated roles of partner or teammate envisioned for future human-robot systems. We propose that most approaches to date have focused on autonomy and suggest that autonomy is the wrong focal point. The envisioned roles, if properly performed, have a high level of interdependence that cannot be addressed solely by autonomy and necessitate a focus on the coactivity.

Several key aspects of coordination such as teamwork, roles, and communication, are enabled and driven by, and even largely defined by, various systems of regulation. One key feature of all these elements in human coordination is their dynamic nature. We have developed a framework to provide a dynamic regulatory system for supporting coordination in human-robot teamwork. This framework supports the definition and functions of roles within teams, as well as the creation of subteams and the roles within them. It also serves to regulate communications in support of coordination. We have demonstrated our system with a team of two humans and five robots performing advanced coordination while trying to apprehend an intruder hiding on a cluttered pier. This work lays the foundation for human-robot coordination based on dynamic regulation.

An omni-relevant issue for workplace studies is how participants engaged in joint activity make sense of the objects that constitute their shared material environment. In this study we examine a surgery taped in a teaching hospital to explore how formal procedures make relevant certain sorts of objects and, at the same time, are constituted through them. We proceed by unpacking one particular strip of talk and demonstrate how its determinate sense rests upon a vernacular understanding of unfolding procedure. We treat surgical procedures as sequences of projected instructions. Competent design of technologies intended to support cooperative work must rest ultimately on an intimate understanding of that work's organization. The practices of instantiating objects and followintg procedures are foundational to that organization. This paper is intended to provide method and vocabulary for studying and describing such matters.