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This paper develops a comprehensive taxonomy of Human-Robot Teamwork (HRT) requirements by analyzing a corpus of 361 requirements from 14 diverse sources, addressing the fragmented nature of existing frameworks. The authors create a two-level hierarchical structure that categorizes requirements into six high-level categories and 21 subcategories, covering aspects such as decision support and safety mechanisms. Validation through expert evaluation and a utility demonstration on an additional corpus of 448 requirements confirms the taxonomy's robustness and applicability across various domains.
A unified taxonomy reveals critical dimensions of Human-Robot teamwork that could streamline collaboration in safety-critical environments.
Autonomous systems are increasingly deployed in safety- and mission-critical domains where humans and robots must operate as a team to complete complex tasks. Existing requirements for Human-Robot teamwork remain fragmented across disparate sources, with no unified framework that addresses complexities of collaborative Human-Robot tasks. We address this gap by presenting a taxonomy of Human-Robot Teamwork (HRT) requirements derived from analysis of (academic and industrial) literature, standards and regulatory guidance. We extracted a construction corpus of 361 requirements from 14 cross-domain sources. Through iterative classification and refinement, we develop a two-level hierarchical taxonomy comprising 6 high-level categories and 21 low-level subcategories that distinguish information provision, relational control, decision support, safety mechanisms, performance monitoring, and foundational system capabilities. We validate the taxonomy through expert evaluation with 5 domain specialists and a utility demonstration on an independently assembled corpus of 448 requirements drawn from 19 sources spanning six HRT domains.