Two artificial agents (a humanoid robot and a virtual human) are enriched with various similar intelligence,autonomy,functionalities and interaction modalities.The agents are integrated in the form of a cyber-physical-social system (CPSS) through a shared communication platform to create a social ecology.In the ecology,the agents collaborate (assist each other) to perform a real-world task (search for a hidden object)for the benefits of humans.A robot-virtual human bilateral trust model is derived and a real-time trust measurement method is developed.The role of taking initiative in the collaboration is switched between the agents following a finite state machine model triggered by bilateral trust,which results in a mixedinitiative collaboration.A scheme is developed to evaluate the performance of the agents in the ecology through the CPSS.The results show that the robot and the virtual human perform satisfactorily in the collaboration through the CPSS.The results thus prove the effectiveness of the real-worid ecology between artificial agents of heterogeneous realities through a shared platform based on trust-triggered mixed-initiatives.The results can help develop adaptive social ecology comprising intelligent agents of heterogeneous realities to assist humans in various tasks through collaboration between the agents in the form of a CPSS.
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