Human adaptation to latency in teleoperated multi-robot human-agent search and rescue teams
Human adaptation to latency in teleoperated multi-robot human-agent search and rescue teams
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DOI：
10.1016/j.autcon.2018.12.012
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发表时间：
2019-03-01
影响因子：
10.3
通讯作者：
Gramopadhye, Anand
中科院分区：
文献类型：
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作者：
Khasawneh, Amro;Rogers, Hunter;Gramopadhye, Anand
高应力环境下无人机的遥操作一直是许多领域的研究课题，主要集中在系统和操作员的性能。无人驾驶地面救援车辆，也被称为搜索和救援机器人，在灾难中作为响应者的延伸，提供实时视频和有关情况的其他相关信息。然而，在物理上分离响应者和机器人在提供给无人驾驶车辆以执行操作的人类输入与由系统提供的后续响应之间引入了延迟。这种延迟（滞后或时间延迟）由操作员和无人驾驶车辆之间的距离和连接带宽决定。自动化这些系统可以在一定程度上减轻延迟的影响;然而，这也有其自身的后果，例如将响应者排除在循环之外，这随后会对态势感知产生不利影响。本研究探讨了延迟和性能之间的关系，在不同层次的系统复杂性和不同程度的自动化对这种关系的影响的遥操作机器人的人类操作员。80名参赛者操作一至两台无人遥控机器人完成两项搜救任务。该研究采用2 × 2 × 2混合受试者实验设计，自动化水平和延迟水平是受试者间因素，系统复杂性（控制一个或两个机器人）是受试者内因素。因变量是操作员的表现，感知的工作量，和信任与自动化的主观评级。500毫秒的延迟表明，在完成任务的时间和感知的物理工作量显着增加的性能显着下降。自动化水平和延迟水平都调节了系统复杂性对机器人系统中主观信任评级的影响。随着时间的推移，在一个机器人的条件下，信任水平下降，而不是在两个机器人的条件下没有变化。错误率随着时间的推移以不同的速度下降，这取决于机器人的数量或延迟水平。根据研究结果，提出了几个设计的影响，以提高性能，包括增加功能的自动化，这将允许操作员使用共同的策略，并提供必要的信息，使用多个感官通道。最后提出了今后的研究方向。
Teleoperation of unmanned vehicles in high stress environments has been a subject of research in many domains, which focus primarily on system and operator performance. Unmanned ground vehicles for rescue, also known as search and rescue robots, serve as extensions of responders in a disaster, providing real-time video and other relevant information about the situation. However, physically separating responder and robot introduces latency between the human input provided to the unmanned vehicle to execute an operation and the subsequent response provided by the system. This latency (lag or time delay) is determined by the distance and the bandwidth of the connection between the operator and the unmanned vehicle. Automating these systems may mitigate the effect of latency to an extent; however, this has its own consequences, such as leaving the responder out of the loop, which subsequently leads to detrimental effects on situational awareness. This research investigates the relationship between latency and the performance of the human operator of a teleoperated robot at different levels of system complexity and the effect of different levels of automation on this relationship. Eighty participants operated one or two unmanned teleoperated robots to complete two search and rescue tasks. The study utilized a 2 x 2 x 2 mixed-subjects experimental design with the automation level and latency level being the between-subjects factors and the system complexity (controlling one or two robots) being the within-subjects factor. The dependent variables were operator performance, perceived workload, and the subjective rating of trust with automation. A latency of 500 ms showed a significant decrease in performance in time to complete the task and a significant increase in the perceived physical workload. Both the automation level and latency level moderated the system complexity effect on the subjective rating of trust in the robotic system. The level of trust decreased over time in the one-robot condition as opposed to no change in the two-robot condition. The error rate decreased over time at different rates based on the number of robots or the latency level. Based on the results of the study, several design implications are suggested for improving performance including adding features to the automation that will allow the operator to use common strategies and providing necessary information using multiple sensory channels. Future research directions are also proposed.