{"id":"https://openalex.org/W2295887377","doi":"https://doi.org/10.1177/0278364915627291","title":"Timed Petri nets for fluent turn-taking over multimodal interaction resources in human-robot collaboration","display_name":"Timed Petri nets for fluent turn-taking over multimodal interaction resources in human-robot collaboration","publication_year":2016,"publication_date":"2016-03-10","ids":{"openalex":"https://openalex.org/W2295887377","doi":"https://doi.org/10.1177/0278364915627291","mag":"2295887377"},"language":"en","primary_location":{"id":"doi:10.1177/0278364915627291","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915627291","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110235771","display_name":"Crystal Chao","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Crystal Chao","raw_affiliation_strings":["School of Interactive Computing, Georgia Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066797327","display_name":"Andrea L. Thomaz","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrea Thomaz","raw_affiliation_strings":["School of Interactive Computing, Georgia Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Interactive Computing, Georgia Institute of Technology, USA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5110235771"],"corresponding_institution_ids":["https://openalex.org/I130701444"],"apc_list":null,"apc_paid":null,"fwci":6.628,"has_fulltext":false,"cited_by_count":38,"citation_normalized_percentile":{"value":0.96691638,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"35","issue":"11","first_page":"1330","last_page":"1353"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12031","display_name":"Speech and dialogue systems","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12031","display_name":"Speech and dialogue systems","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10456","display_name":"Multi-Agent Systems and Negotiation","score":0.991100013256073,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7614343762397766},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.6962772607803345},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6433876752853394},{"id":"https://openalex.org/keywords/petri-net","display_name":"Petri net","score":0.6070832014083862},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5917098522186279},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.5338094830513},{"id":"https://openalex.org/keywords/resource","display_name":"Resource (disambiguation)","score":0.4570273756980896},{"id":"https://openalex.org/keywords/shared-space","display_name":"Shared space","score":0.42764320969581604},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.41660889983177185},{"id":"https://openalex.org/keywords/gaze","display_name":"Gaze","score":0.4141218662261963},{"id":"https://openalex.org/keywords/situated","display_name":"Situated","score":0.41340363025665283},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4104146957397461},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.20748338103294373},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.16929197311401367},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10438346862792969}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7614343762397766},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.6962772607803345},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6433876752853394},{"id":"https://openalex.org/C38677869","wikidata":"https://www.wikidata.org/wiki/Q724168","display_name":"Petri net","level":2,"score":0.6070832014083862},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5917098522186279},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.5338094830513},{"id":"https://openalex.org/C206345919","wikidata":"https://www.wikidata.org/wiki/Q20380951","display_name":"Resource (disambiguation)","level":2,"score":0.4570273756980896},{"id":"https://openalex.org/C2777311342","wikidata":"https://www.wikidata.org/wiki/Q578801","display_name":"Shared space","level":3,"score":0.42764320969581604},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.41660889983177185},{"id":"https://openalex.org/C2779916870","wikidata":"https://www.wikidata.org/wiki/Q14467155","display_name":"Gaze","level":2,"score":0.4141218662261963},{"id":"https://openalex.org/C132829578","wikidata":"https://www.wikidata.org/wiki/Q581151","display_name":"Situated","level":2,"score":0.41340363025665283},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4104146957397461},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.20748338103294373},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.16929197311401367},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10438346862792969},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364915627291","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364915627291","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":72,"referenced_works":["https://openalex.org/W28861688","https://openalex.org/W74860912","https://openalex.org/W1510147262","https://openalex.org/W1518863056","https://openalex.org/W1530281665","https://openalex.org/W1543378523","https://openalex.org/W1596865497","https://openalex.org/W1748506543","https://openalex.org/W1967207979","https://openalex.org/W1975096659","https://openalex.org/W1986532700","https://openalex.org/W1989104072","https://openalex.org/W1991123335","https://openalex.org/W1996109622","https://openalex.org/W2004669996","https://openalex.org/W2009266235","https://openalex.org/W2012844124","https://openalex.org/W2017949996","https://openalex.org/W2026431544","https://openalex.org/W2039207728","https://openalex.org/W2049009647","https://openalex.org/W2057108666","https://openalex.org/W2067097374","https://openalex.org/W2067638083","https://openalex.org/W2082062385","https://openalex.org/W2096246340","https://openalex.org/W2097580181","https://openalex.org/W2098094941","https://openalex.org/W2098161727","https://openalex.org/W2104300420","https://openalex.org/W2105252562","https://openalex.org/W2107574152","https://openalex.org/W2112645526","https://openalex.org/W2113279891","https://openalex.org/W2116906536","https://openalex.org/W2116971293","https://openalex.org/W2117044859","https://openalex.org/W2123019263","https://openalex.org/W2132891289","https://openalex.org/W2135431835","https://openalex.org/W2137595467","https://openalex.org/W2140705796","https://openalex.org/W2143427281","https://openalex.org/W2144424977","https://openalex.org/W2147155775","https://openalex.org/W2150610356","https://openalex.org/W2150671164","https://openalex.org/W2152486776","https://openalex.org/W2153190547","https://openalex.org/W2154267140","https://openalex.org/W2154524549","https://openalex.org/W2161345458","https://openalex.org/W2163321695","https://openalex.org/W2166350486","https://openalex.org/W2169284280","https://openalex.org/W2170403483","https://openalex.org/W2293346831","https://openalex.org/W2295985460","https://openalex.org/W2331510717","https://openalex.org/W2339802110","https://openalex.org/W2484908051","https://openalex.org/W2613959975","https://openalex.org/W2741609678","https://openalex.org/W2753704843","https://openalex.org/W2932030991","https://openalex.org/W3143996792","https://openalex.org/W4230100653","https://openalex.org/W4232432298","https://openalex.org/W4233053841","https://openalex.org/W4239413936","https://openalex.org/W4240553276","https://openalex.org/W4248634141"],"related_works":["https://openalex.org/W1600697036","https://openalex.org/W1601337804","https://openalex.org/W2035858348","https://openalex.org/W2155106162","https://openalex.org/W2021842168","https://openalex.org/W4388576605","https://openalex.org/W2062302545","https://openalex.org/W2496651913","https://openalex.org/W2107163554","https://openalex.org/W2276452032"],"abstract_inverted_index":{"The":[0,131],"goal":[1],"of":[2,10,37,53,122,193],"this":[3],"work":[4,17],"is":[5,44],"to":[6,16,82,96,104,139],"develop":[7],"computational":[8],"models":[9],"social":[11,105],"intelligence":[12],"that":[13,112,146,180],"enable":[14],"robots":[15],"side":[18,20],"by":[19],"with":[21,89,149,161,174],"humans,":[22,150],"solving":[23],"problems":[24],"and":[25,31,71,98,120,127,137,191],"achieving":[26],"task":[27,173,188],"goals":[28],"through":[29],"dialogue":[30],"collaborative":[32,38,87,171],"manipulation.":[33],"A":[34],"defining":[35],"problem":[36],"behavior":[39],"in":[40,47,164,186],"an":[41,85,162],"embodied":[42],"setting":[43],"the":[45,76,118,181],"manner":[46],"which":[48,165],"multiple":[49],"agents":[50],"make":[51],"use":[52],"shared":[54,148],"resources.":[55],"In":[56],"a":[57,80,90,109,170],"situated":[58],"dialogue,":[59],"these":[60],"resources":[61,101,145],"include":[62],"physical":[63],"bottlenecks":[64,73],"such":[65,74,100],"as":[66,75,84],"objects":[67],"or":[68],"spatial":[69],"regions,":[70],"cognitive":[72],"speaking":[77],"floor.":[78],"For":[79],"robot":[81,123,167],"function":[83],"effective":[86],"partner":[88],"human,":[91],"it":[92],"must":[93],"be":[94],"able":[95],"seize":[97],"yield":[99],"appropriately":[102],"according":[103],"expectations.":[106],"We":[107,157],"describe":[108],"general":[110],"framework":[111],"uses":[113],"timed":[114],"Petri":[115],"nets":[116],"for":[117,129],"modeling":[119],"execution":[121],"speech,":[124],"gaze,":[125],"gesture,":[126],"manipulation":[128],"collaboration.":[130],"system":[132],"dynamically":[133],"monitors":[134],"resource":[135,154],"requirements":[136],"availability":[138],"control":[140],"real-time":[141],"turn-taking":[142],"decisions":[143],"over":[144],"are":[147],"reasoning":[151],"about":[152],"different":[153,176],"types":[155],"independently.":[156],"evaluate":[158],"our":[159,166],"approach":[160,184],"experiment":[163],"Simon":[168],"performs":[169],"assembly":[172],"26":[175],"human":[177],"partners,":[178],"showing":[179],"multimodal":[182],"reciprocal":[183],"results":[185],"superior":[187],"performance,":[189],"fluency,":[190],"balance":[192],"control.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":3}],"updated_date":"2026-05-03T06:03:33.228499","created_date":"2025-10-10T00:00:00"}