  Effective human-robot collaboration (HRC) requires extensive communication
among the human and robot teammates, because their actions can potentially
produce conflicts, synergies, or both. We develop a novel augmented reality
(AR) interface to bridge the communication gap between human and robot
teammates. Building on our AR interface, we develop an AR-mediated,
negotiation-based (ARN) framework for HRC. We have conducted experiments both
in simulation and on real robots in an office environment, where multiple
mobile robots work on delivery tasks. The robots could not complete the tasks
on their own, but sometimes need help from their human teammate, rendering
human-robot collaboration necessary. Results suggest that ARN significantly
reduced the human-robot team's task completion time compared to a non-AR
baseline approach.
