Using a robot proxy to create common ground in exploration tasks

In this paper, we present a user study of a new collaborative communication method between a user and remotely-located robot performing an exploration task. In the studied scenario, our user possesses scientific expertise but not necessarily detailed knowledge of the robot´s capabilities, resulting in very little common ground between the user and robot. Because the robot is not available during mission planning, we introduce a robot proxy to build common ground with the user. Our robot proxy has the ability to provide feedback to the user about the user´s plans before the plans are executed. Our study demonstrated that the use of the robot proxy resulted in improved performance and efficiency on an exploration task, more accurate mental models of the robot´s capabilities, a stronger perception of effectiveness at the task, and stronger feelings of collaboration with the robotic system.