To increase human trust in robots, we have developed a system that provides insight into robotic behaviors by enabling a robot to answer questions people pose about its actions (e.g., Q: Why did you turn left there? A: "I detected a person at the end of the hallway."). Our focus is on generation of this explanation in human-understandable terms despite the mathematical, robot-specific representation and planning system used by the robot to make its decisions and execute its actions. We present our work to date on this topic, including system design and experiments, and discuss areas for future work.

In this paper, we describe a Human-Robot Interface (HRI) software architecture designed to enable teams of operators to share tasking for multiple unmanned vehicles and systems. Many existing robotic systems are controlled using specially-designed interfaces, which becomes problematic for operator teams controlling multiple heterogeneous systems. We propose a solution that enables teams of operators to control multiple heterogeneous vehicles and systems using a common command and control environment. This environment supports task sharing and handoff and was shown in evaluations to improve team efficiency.

Voting technology today has not addressed the issues that disabled voters are confronted with at the polls. Because approximately 17% of the voting population is disabled, their issues should be handled with a solution geared towards their needs. Disabled voters need to be able to cast their vote without the assistance of others. The Prime III multimodal voting system [2] addresses these issues. This demonstration will illustrate the use of the Prime III system, a virtual reality (VR) version (Prime V), and a similar version created using a voice user interface (VUI).