Failure recovery with shared autonomy
Failure recovery with shared autonomy
复制标题
具有共享自主权的故障恢复
DOI：
10.1109/iros.2012.6385524
复制
发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Sarah Osentoski
中科院分区：
文献类型：
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作者：
Bharathwaj Sankaran;Benjamin Pitzer;Sarah Osentoski
建造能够长期自主的机器人一直是机器人学研究的长期目标。这样的系统必须能够以高度的健壮性和可重复性执行某些任务。在个人机器人的背景下，这些任务的范围从从冰箱里取出物品，到装洗碗机，到摆放餐桌，无所不包。考虑到任务的复杂性，机器人可能会遇到许多故障场景，无论环境是静态的还是动态的。要让机器人在这种情况下取得成功，它需要知道如何从失败中恢复过来，或者何时向人类寻求帮助。本文提出了一种新的共享自主行为执行者来解决这些问题。我们演示了该执行器如何结合基于广义逻辑的恢复和人工干预来实现连续无故障操作。我们对系统进行了两个不同用例实验的250多次测试。我们目前的算法将人工干预从第一次实验的26%大幅减少到4%，在第二次实验中从46%减少到9%。该系统为机器人的自主性提供了一个新的维度，其中机器人可以在最少的人类监督下展示长期无故障操作。我们还讨论了如何对该系统进行推广。
Building robots capable of long term autonomy has been a long standing goal of robotics research. Such systems must be capable of performing certain tasks with a high degree of robustness and repeatability. In the context of personal robotics, these tasks could range anywhere from retrieving items from a refrigerator, loading a dishwasher, to setting up a dinner table. Given the complexity of tasks there are a multitude of failure scenarios that the robot can encounter, irrespective of whether the environment is static or dynamic. For a robot to be successful in such situations, it would need to know how to recover from failures or when to ask a human for help. This paper, presents a novel shared autonomy behavioral executive to addresses these issues. We demonstrate how this executive combines generalized logic based recovery and human intervention to achieve continuous failure free operation. We tested the systems over 250 trials of two different use case experiments. Our current algorithm drastically reduced human intervention from 26% to 4% on the first experiment and 46% to 9% on the second experiment. This system provides a new dimension to robot autonomy, where robots can exhibit long term failure free operation with minimal human supervision. We also discuss how the system can be generalized.