Trust Repair in Human-Swarm Teams+
Trust Repair in Human-Swarm Teams+
复制标题
人类群体团队中的信任修复
DOI：
10.1109/ro-man46459.2019.8956420
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
K. Sycara
中科院分区：
文献类型：
--
作者：
Rui Liu;Z. Cai;M. Lewis;J. Lyons;K. Sycara
群体机器人通过简单的控制律进行协调，以产生群集、交会和部署等紧急行为。人群组合已被广泛提出用于各种场景，例如用于灾难救援的人类监督无人机(UAV)团队，用于建筑安全的无人机和地面车辆合作，以及战斗中的士兵和无人机团队。有效的合作需要在人类和蜂群之间建立适当程度的信任。当无人机群部署在真实环境中时，其性能受真实世界因素的影响，例如系统可靠性和风扰动。机器人性能的下降可能会导致不受欢迎的群体行为，降低人类的信任。这种信任的丧失反过来会引发人对无人机任务执行的干预，如果不合适，就会降低合作效率。因此，为了促进有效的协作，我们提出并测试了一种信任修复方法(Trust-Repair)，通过纠正不受欢迎的群体行为，将群体中的性能和人类信任恢复到适当的水平。为了评估信任修复算法在修复群体性能和恢复人类信任方面的性能，模拟了外部因素和内部因素造成的故障群体。结果表明，信任修复能够有效地将信任恢复到介于正常和故障之间的水平。
Swarm robots are coordinated via simple control laws to generate emergent behaviors such as flocking, rendezvous, and deployment. Human-swarm teaming has been widely proposed for scenarios, such as human-supervised teams of unmanned aerial vehicles (UAV) for disaster rescue, UAV and ground vehicle cooperation for building security, and soldier-UAV teaming in combat. Effective cooperation requires an appropriate level of trust, between a human and a swarm. When an UAV swarm is deployed in a real-world environment, its performance is subject to real-world factors, such as system reliability and wind disturbances. Degraded performance of a robot can cause undesired swarm behaviors, decreasing human trust. This loss of trust, in turn, can trigger human intervention in UAVs’ task executions, decreasing cooperation effectiveness if inappropriate. Therefore, to promote effective cooperation we propose and test a trust-repairing method (Trust-repair) restoring performance and human trust in the swarm to an appropriate level by correcting undesired swarm behaviors. Faulty swarms caused by both external and internal factors were simulated to evaluate the performance of the Trust-repair algorithm in repairing swarm performance and restoring human trust. Results show that Trust-repair is effective in restoring trust to a level intermediate between normal and faulty conditions.
相干运动的检测和辨别。
DOI：
10.3758/bf03211604
发表时间：
1990
期刊：
Perception & psychophysics
影响因子：
--
作者：
Mowafy,L;Blake,R;Lappin,JS
通讯作者：
Lappin,JS