Human-Robot Interaction Through Mixed-Initiative Planning for Rescue and Search Rovers
Human-Robot Interaction Through Mixed-Initiative Planning for Rescue and Search Rovers
复制标题
通过救援和搜索漫游车的混合主动规划进行人机交互
DOI：
10.1007/11558590_49
复制
发表时间：
2005
影响因子：
3.8
通讯作者：
Andrea Orlandini
中科院分区：
文献类型：
--
作者：
Alberto Finzi;Andrea Orlandini
提出了一种基于反应式混合主动规划的城市搜索与救援（USAR）领域人机交互方法。一个基于模型的执行监测系统是用来协调操作员的干预和救援流动站的并发活动。在这种设置中，用户和机器人的活动是由一个连续反应规划过程协调。我们展示了这种方法的优势，操作员的情况意识和人机交互在救援任务。我们提出了一个机器人系统（DORO）上的控制架构的实施，提供了一些实验结果，从救援舞台上的测试。
We present an approach to human-robot interaction in Urban Search and Rescue (USAR) domains based on reactive mixed-initiative planning. A model-based executive monitoring system is used to coordinate the operator's interventions and the concurrent activities of a rescue rover. In this setting, the user's and the robot's activities are coordinated by a continuos reactive planning process. We show the advantages of this approach for both the operator situation awareness and human-robot interaction during rescue missions. We present the implementation of the control architecture on a robotic system (DORO) providing some experimental results obtained from testing in rescue arenas.