# Timely Negotiation and Correction of Shared Intentions With Body Motion

## TL;DR

This paper introduces a dynamical system for robots that enables real-time negotiation and correction of shared intentions through body motion, improving interaction fluidity and responsiveness.

## Contribution

It presents a novel stable heteroclinic channel network model that allows instant modulation of motions for better interaction management in robots.

## Key findings

- Enables timely intervention in robot interactions.
- Provides a compact, reasoning-friendly motion abstraction.
- Supports seamless negotiation of interaction alternatives.

## Abstract

Current robot architectures for modeling interaction behavior are not well suited to the dual task of sequencing discrete actions and incorporating information instantly. Additionally, for communication based on body motion, actions also serve as cues for negotiating interaction alternatives and to enable timely interventions. The paper presents a dynamical system based on the stable heteroclinic channel network, which provides a rich set of parameters to isntantly modulate motions, while maintaining a compact state graph abstraction suitable for reasoning, planning and inference.