Fair navigation planning: A resource for characterizing and designing fairness in mobile robots
Fair navigation planning: A resource for characterizing and designing fairness in mobile robots
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DOI：
10.1016/j.artint.2020.103259
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发表时间：
2020-05-01
影响因子：
14.4
通讯作者：
Luff, Paul
中科院分区：
文献类型：
--
作者：
Brandao, Martim;Jirotka, Marina;Luff, Paul
近年来，移动机器人等自主系统的开发和部署越来越普遍。调查和实施自治系统中的公平性等道德考虑因素是一个受到越来越多关注的重要问题，这既是因为最近发现了其潜在的不良影响，也因为道德原则和准则的相关激增。在本文中，我们采用一种新方法来考虑自治系统设计中的公平性：我们通过获取正式定义、将其应用于系统并模拟系统部署以预测挑战来检查公平性。我们在机器人导航的特定技术问题的背景下进行这种分析。我们首先表明机器人导航存在公平性，然后收集分配正义的几个正式定义并将其翻译到导航规划领域。我们使用救援机器人的演练示例来展示公平系统开发过程中出现的设计选择和问题。我们讨论间接歧视、公平与效率的权衡、适得其反的公平定义的存在、隐私和其他问题。最后，我们详细阐述了研究议程的重要方面，并反思了本文中我们的方法作为自主系统中负责任创新的一般方法的充分性。 (C) 2020 Elsevier B.V. 保留所有权利。
In recent years, the development and deployment of autonomous systems such as mobile robots have been increasingly common. Investigating and implementing ethical considerations such as fairness in autonomous systems is an important problem that is receiving increased attention, both because of recent findings of their potential undesired impacts and a related surge in ethical principles and guidelines. In this paper we take a new approach to considering fairness in the design of autonomous systems: we examine fairness by obtaining formal definitions, applying them to a system, and simulating system deployment in order to anticipate challenges. We undertake this analysis in the context of the particular technical problem of robot navigation. We start by showing that there is a fairness dimension to robot navigation, and we then collect and translate several formal definitions of distributive justice into the navigation planning domain. We use a walkthrough example of a rescue robot to bring out design choices and issues that arise during the development of a fair system. We discuss indirect discrimination, fairness-efficiency trade-offs, the existence of counter-productive fairness definitions, privacy and other issues. Finally, we elaborate on important aspects of a research agenda and reflect on the adequacy of our methodology in this paper as a general approach to responsible innovation in autonomous systems. (C) 2020 Elsevier B.V. All rights reserved.