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This paper develops a novel framework called Providers-Clients-Robots (PCR),applicable to socially assistive robots that support research on sharedunderstanding in human-robot interactions. Providers, Clients, and Robots sharean actionable and intuitive representation of the environment to create plansthat best satisfy the combined needs of all parties. The plans are formed viainteraction between the Client and the Robot based on a previously builtmulti-modal navigation graph. The explainable environmental representation inthe form of a navigation graph is constructed collaboratively between Providersand Robots prior to interaction with Clients. We develop a realization of theproposed framework to create a spatial-semantic representation of an indoorenvironment autonomously. Moreover, we develop a planner that takes inconstraints from Providers and Clients of the establishment and dynamicallyplans a sequence of visits to each area of interest. Evaluations show that theproposed realization of the PCR framework can successfully make plans whilesatisfying the specified time budget and sequence constraints and outperformingthe greedy baseline.

Providers-Clients-Robots: Framework for spatial-semantic planning for shared understanding in human-robot interaction