2026-04-17T14:04:21Zhttps://recercat.cat/oai/request

oai:recercat.cat:2117/3935512026-03-25T09:02:16Zcom_2072_1033col_2072_452950

00925njm 22002777a 4500 dc Olivares Alarcos, Alberto author Andriella, Antonio author Foix Salmerón, Sergi author Alenyà Ribas, Guillem author 2023 © 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting /republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works In the future, robots are expected to autonomously interact and/or collaborate with humans, who will increase the uncertainty during the execution of tasks, provoking online adaptations of robots' plans. Hence, trustworthy robots must be able to store, retrieve and narrate important knowledge about their collaborations and adaptations. In this article, it is proposed a sound methodology that integrates three main elements. First, an ontology for collaborative robotics and adaptation to model the domain knowledge. Second, an episodic memory for time-indexed knowledge storage and retrieval. Third, a novel algorithm to extract the relevant knowledge and generate textual explanatory narratives. The algorithm produces three different types of outputs, varying the specificity, for diverse uses and preferences. A pilot study was conducted to evaluate the usefulness of the narratives, obtaining promising results. Finally, we discuss how the methodology can be generalized to other ontologies and experiences. This work boosts robot explainability, especially in cases where robots need to narrate the details of their short and long-term past experiences. Peer Reviewed Postprint (author's final draft) Àrees temàtiques de la UPC::Informàtica::Robòtica Robotics Common-sense reasoning Intelligent robots Ontologies Explainable agency Collaborative robots Adaptative robots Robòtica Robot explanatory narratives of collaborative and adaptive experiences