The paper discusses how a human-robot team can remain “cohesive” while performing under stress. By cohesive the paper understands the ability of the team to operate effectively, with individual members being interdependent-yet-autonomous in carrying out tasks. For a human-robot team, we argue that this requires robots to (1) have an adequate sense of that interde- pendency in terms of the social dynamics within the team, and to (2) maintain transparency towards the human team members in terms of what it is doing, why, and to what extent it can achieve its (possibly jointly agreed upon) goals. The paper re- ports of recent field experience showing that failure in trans- parency results in reduced acceptability of robot autonomous behavior by the human team members. This reduction in acceptability can have two negative impacts on cohesiveness: Humans and robots fail to maintain common ground, and as a result they fail to maintain trust.

Hybrid group autonomy, organizations and teams composed of humans, machines and robots, are important to AI. Unlike the war in Iraq in 2002, the war in Afghanistan has hundreds of mobile robots aloft, on land, or under the sea. But when it comes to solving problems as part of a team, these agents are socially passive. Were the problem of aggregation and the autonomy of hybrids to be solved, robot teams could accompa- ny humans to address and solve problems together on Mars, under the sea, or in dan- gerous locations on earth (such as, fire-fighting, reactor meltdowns, and future wars). “Robot autonomy is required because one soldier cannot control several robots ... [and] because no computational system can discriminate between combatants and innocents in a close-contact encounter.” (Sharkey, 2008) Yet, today, one of the fundamental unsolved problems in the social sciences is the aggregation of individual data (such as preferences) into group (team) data (Giles, 2011) The original motivation behind game theory was to study the effect that multi- ple agents have on each other (Von Neumann and Morgenstern, 1953), known as interdependence or mutual dependence. Essentially, the challenge addresses the ques- tion: why is a group different from the collection of individuals who comprise the group? That the problem remains unsolved almost 70 years later is a remarkable com- ment on the state of the social sciences today, including game theory and economics. But solving this challenge is essential for the science and engineering of multiagent, multirobot and hybrid environments (that is, humans, machines and robots working together).

In all of these problems, we have limited with researchers in other disciplines, be "on the ground" security resources which prevent full security coverage with domain experts, and examine real-world constraints at all times; instead, limited security resources must be deployed and challenges that cannot be abstracted away. Together as intelligently taking into account differences in priorities an international community of multiagent researchers, we of targets requiring security coverage, the responses of can accomplish more! the adversaries to the security posture and potential uncertainty over the types, capabilities, knowledge and priorities

Natural world interaction (NWI), the pursuit of arbitrary goals in unstructured physical environments, is an excellent motivating problem for the reintegration of artificial intelligence. It is the problem set that humans struggle to solve. At a minimum it entails perception, learning, planning, and control, and can also involve language and social behavior. An agent's fitness in NWI is achieved by being able to perform a wide variety of tasks, rather than being able to excel at one. In an attempt to address NWI, a brain-emulating cognition and control architecture (BECCA) was developed. It uses a combination of feature creation and model-based reinforcement learning to capture structure in the environment in order to maximize reward. BECCA avoids making common assumptions about its world, such as stationarity, determinism, and the Markov assumption. BECCA has been demonstrated performing a set of tasks which is non-trivially broad, including a vision-based robotics task. Current development activity is focused on applying BECCA to the problem of general Search and Retrieve, a representative natural world interaction task.

The paper describes ongoing integrated research on designing intelligent robots that can assist humans in making a situation assessment during Urban Search & Rescue (USAR) missions. These robots (rover, microcopter) are deployed during the early phases of an emergency response. The aim is to explore those areas of the disaster hotzone which are too dangerous or too difficult for a human to enter at that point. This requires the robots to be "intelligent" in the sense of being capable of various degrees of autonomy in acting and perceiving in the environment. At the same time, their intelligence needs to go beyond mere task-work. Robots and humans are interdependent. Human operators are dependent on these robots to provide information for a situation assessment. And robots are dependent on humans to help them operate (shared control) and perceive (shared assessment) in what are typically highly dynamic, largely unknown environments. Robots and humans need to form a team. The paper describes how various insights from robotics and Artificial Intelligence are combined, to develop new approaches for modeling human robot teaming. These approaches range from new forms of modeling situation awareness (to model distributed acting in dynamic space), human robot interaction (to model communication in teams), flexible planning (to model team coordination and joint action), and cognitive system design (to integrate different forms of functionality in a single system).

In this paper we examine the case of a mobile robot that is part of a human-robot urban search and rescue (USAR) team. During USAR scenarios, we would like the robot to have a geometrical-functional understand- ing of space, using which it can infer where to perform planned tasks in a manner that mimics human behav- ior. We assess the situation awareness of rescue work- ers during a simulated USAR scenario and use this as an empirical basis to build our robot’s spatial model. Based upon this spatial model, we present “functional map- ping” as an approach to identify regions in the USAR environment where planned tasks are likely to be opti- mally achievable. The system is deployed and evaluated in a simulated rescue scenario.

In all of these problems, we have limited be done; yet these are large-scale interdisciplinary research security resources which prevent full security coverage challenges that call upon multiagent researchers to work at all times; instead, limited security resources must be deployed with researchers in other disciplines, be "on the ground" intelligently taking into account differences in priorities with domain experts, and examine real-world constraints of targets requiring security coverage, the responses of and challenges that cannot be abstracted away. Together as the adversaries to the security posture and potential uncertainty an international community of multiagent researchers, we over the types, capabilities, knowledge and priorities can accomplish more! of adversaries faced.

Traditional social science research has been unable to satisfactorily aggregate individual level data to group, organization and systems levels, making it one of social science’s biggest challenges (Giles, 2011). For game and social theory, we believe that the fault can be attributed to the lack of valid distance measures (e.g., the arbitrary ordering of cooperation and competition precludes a Hilbert space distance metric for the ordering of and gradations between these social behaviors, making game theory normative). Alternatively, we offer a theory of social interdependence with countable mathematics based on bistable or multi-stable perspectives and linear algebra. The evidence that is available is supportive. It indicates that meaning is a one-sided, stable, classical interpretation, not only making the correspondence between beliefs and objective reality in social settings incomplete, raising questioning about static theories from earlier eras (i.e., Axelrod’s evolution of cooperation; Simon’s bounded rationality). The result indicates for open systems (democracies) that interpretations evolve naturally to become orthogonal (Nash equilibria), that orthogonal interpretations generate the information to drive social evolution, but that in closed systems (dictatorships), dependent on the enforcement of social cooperation and the suppression of opposing points of view, evolution slows or stops (e.g., China, Iran or Cuba), causing capital and energy to be wasted, misdirected or misallocated as leaders suppress the interpretations that they alone have the authority to label as unethical, immoral, or irreligious. We conclude that a mathematics based on NE is feasible.

This would allow teams to have an objective currency for trust transactions. These systems would allow another surface for autonomous Ali, A.S., Rana, O., and Walker, D.W. (2004): "WS-QoC: agents to integrate the social fabric with information Measuring Quality of Service Compliance," International gathered in virtual environments. Further, the system would Conference on Service Oriented Computing (ICSOC04), New increase illumination of dark networks engaged in illicit York, NY. covert activity. Participants would be assigned a score Allbeck, J., and Badler, N. (2002): "Toward Representing Agent similar to FICO scores; when an individual score falls Behaviors Modified by Personality and Emotion," Autonomous noticeably or falls below a threshold, further observation Agents and Multiagent Systems, Bologna, Italy.

Nexus Network Learner is an intelligent agent based simulation used to study Irregular Warfare (IW) in several major studies at the Department of Defense (DoD). Heterogeneous autonomous agents, each with their own separated inductive learning mechanism, have initial attributes and behaviors in proportion to demographic groups in the simulated population, and learn new behaviors as they serve culturally based goals. Nexus agents create a dynamic role-based network, and learn how to choose partners as well as what behaviors they should have with their network partners. As Nexus agents coevolve, nexus models the emergence of social institutions from individual behaviors, the fundamental social aggregation challenge. Nexus models the formation of learned vicious and virtuous cycles of behavior, some of which have higher average utility for the agents than others, and can be used to test the effects of interventions on the natural motivation-based system. An experiment is presented that uses Nexus to model the vicious cycle of corruption in an African country, from the first Irregular Warfare Analytical baseline at the Office of the Secretary of Defense (Messer 2009).