The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

The complexity of heterogeneous robotic teams and the domains in which they are deployed is fast outstripping the ability of autonomous control software to handle the myriad failure modes inherent in such sys- tems. As a result, remote human operators are being brought into the teams as equal members via sliding autonomy to increase the robustness and effectiveness of such teams. A principled approach to deciding when to request help from the human will benefit such systems by allowing them to efficiently make use of the human partner. We have devel- oped a cost-benefit analysis framework and models of both autonomous system and user in order to enable such principled decisions. In addi- tion, we have conducted user experiments to determine the proper form for the learning curve component of the human's model. The resulting automated analysis is able to predict the performance of both the au- tonomous system and the human in order to assign responsibility for tasks to one or the other.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center, Quality of Life Technology Center, and Field Robotics Center

Associated Lab(s) / Group(s): Human-Robot Interaction Group

Associated Project(s): TRESTLE: Autonomous Assembly by Teams of Coordinated Robots

Number of pages: 12

Text Reference

Brennan Peter Sellner, Reid Simmons, and Sanjiv Singh, "User Modelling for Principled Sliding Autonomy in Human-Robot Teams," Proceedings of the NRL Multirobot Workshop 2005, 2005.

BibTeX Reference

@inproceedings{Sellner_2005_5485,
   author = "Brennan Peter Sellner and Reid Simmons and Sanjiv Singh",
   title = "User Modelling for Principled Sliding Autonomy in Human-Robot Teams",
   booktitle = "Proceedings of the NRL Multirobot Workshop 2005",
   year = "2005",
}

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