B<sup>3</sup>IA: A control architecture for autonomous robot-assisted behavior intervention for children with Autism Spectrum Disorders

摘要

This paper describes a novel control architecture, B <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> IA, designed to address the challenges of developing autonomous robot systems for use as behavior intervention tools for children with autism spectrum disorders (ASD). Our goal is to create a system that can be easily adapted for use by non-roboticists engaged in ASD therapy. B <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> IA is a behavior-based architecture for control of socially assistive robots using human-robot interaction in the ASD context. We hypothesize that the organization of a robot control architecture is important to the success of a robot-assisted intervention, because the success of such intervention hinges on the behavior of the robot. We detail the organization of B <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> IA and present preliminary results from experiments that begin to experimentally test this hypothesis.