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This paper describes an innovative agent-based architecture for mixed-initiative interaction between a human and a robot that interacts via a graphical user interface (GUI). Mixed-initiative interaction typically refers to a flexible interaction strategy between a human and a computer to contribute what is best-suited at the most appropriate time  . In this paper, we extend this concept to human-robot interaction (HRI). When compared to pure humancomputer interaction, HRIs encounterdoi:10.1109/hicss.2003.1174288 dblp:conf/hicss/KawamuraNMAZ03 fatcat:fkzspss355c6hmj77xumcz76vm