Abstract:

To enable effective communication between users and autonomous robots, it is crucial to have a shared understanding of goals and actions. This is made possible through an intelligible interface that communicates relevant information. This intelligibility enhances user comprehension, enabling them to anticipate the robot's actions and respond appropriately. However, because robots can perform a wide variety of actions and communication resources are limited, such as the number of available "pixels", visualizations must be carefully designed. To tackle this challenge, we have developed a visual design framework and design space that can be used to create intelligible visualizations for human-robot interaction. Our framework focuses on three key components: information type, pixel layout, and robot type. We demonstrate how intelligibility can be integrated into interactions through prototype visualizations featuring a one-dimensional pixel layout, laying the groundwork for developing more detailed and understandable visualizations.