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A defining problem of collaborative behavior in an embodied setting is the manner in which multiple agents make use of shared resources. In a situated dialogue, these resources include physical bottlenecks such as objects or spatial regions, and cognitive bottlenecks such as the speaking floor. For a robot to function as an effective collaborative partner with a human, it must be able to seize and yield such resources appropriately according to social expectations. We describe a general framework that uses timed Petri nets for the modeling and execution of robot speech, gaze, gesture, and manipulation for collaboration. The system dynamically monitors resource requirements and availability to control real-time turn-taking decisions over resources that are shared with humans, reasoning about different resource types independently. We evaluate our approach with an experiment in which our robot Simon performs a collaborative assembly task with 26 different human partners, showing that the multimodal reciprocal approach results in superior task performance, fluency, and balance of control.<\/jats:p>","DOI":"10.1177\/0278364915627291","type":"journal-article","created":{"date-parts":[[2016,3,10]],"date-time":"2016-03-10T21:39:10Z","timestamp":1457645950000},"page":"1330-1353","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":32,"title":["Timed Petri nets for fluent turn-taking over multimodal interaction resources in human-robot collaboration"],"prefix":"10.1177","volume":"35","author":[{"given":"Crystal","family":"Chao","sequence":"first","affiliation":[{"name":"School of Interactive Computing, Georgia Institute of Technology, USA"}]},{"given":"Andrea","family":"Thomaz","sequence":"additional","affiliation":[{"name":"School of Interactive 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