On the Way to a Transparent HRI

Autonomous robots are expected to have safe and social interactions while sharing the environment and collaborating on several tasks with people. In such scenarios, robots' behaviours must be transparent to people so that they can understand and predict the robots' intentions and actions. In this work, we address the problem of transparency of a robot's behaviours with particular attention given to the use of legibility of the robot's actions, predictability of the final goal and the possibility of providing verbal explanations for a transparent human-robot interaction. Here, we also highlight different ways for adaptive generated explanations to be appropriately communicated to people and how to evaluate the overall transparency of the robots' behaviours.