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Authors: Ma, L., Fong, T., Micire, M., Kim, Y., and Feigh, K.

Abstract: In the past, robots were used primarily as “tools for humans.” As robotics technology has advanced, however, robots have increasingly become capable of assisting humans as partners, or peers, working together to accomplish joint work. This new relationship creates a new host of interdependencies and teamwork questions that need to be addressed in order for human-robot teams to be effective. In this paper, we define communication, coordination, and collaboration as the cornerstones for human-robot teamwork. We then describe the components of teaming, including agent abilities, taskwork, metrics, and peer-to-peer interactions. Our purpose is to enable system designers to understand the factors that influence teamwork and how to structure human-robot teams to facilitate effective teaming.