Mixed-Initiative Planning and Execution for Multiple Drones in Search and Rescue Missions
Mixed-Initiative Planning and Execution for Multiple Drones in Search and Rescue Missions
复制标题
DOI：
10.1609/icaps.v25i1.13700
复制
发表时间：
2015-04
期刊：
影响因子：
--
通讯作者：
G. Bevacqua;Jonathan Cacace;Alberto Finzi;V. Lippiello
中科院分区：
文献类型：
--
作者：
G. Bevacqua;Jonathan Cacace;Alberto Finzi;V. Lippiello
我们提出了一个混合主动规划和执行系统，在搜索和救援任务的人类多无人机交互。拟议的系统应允许一个单一的运营商，以监督和协调一组无人机的操作，通过一个自然的多模式通信。特别是，我们考虑在现实世界的高山情景中寻找失踪人员的任务。在这种情况下，我们假设人类操作员是高山救援人员，参与现场并与无人机共处一处，因此不能完全致力于机器人平台，而只能提供稀疏和粗略的干预。这种情况下，需要一个框架，支持可调整的自主性，从明确的遥操作到完全的自主性，以及人类和机器人团队之间的有效和自然的混合主动交互。在本文中，我们说明了域和整体框架讨论系统在工作中的模拟案例研究。
We present a mixed-initiative planning and execution system for human multi-drones interaction during search and rescue missions. The proposed system should allow a single operator to supervise and orchestrate the operations of a set of UAVs by means of a natural multimodal communication. In particular, we consider the task of searching for missing persons in a real-world alpine scenario. In this context, we assume that the human operator is an alpine rescuer, involved in the scene and co-located with the drones, hence not fully dedicated to the robotic platforms, but only able to provide sparse and sketchy interventions. This scenario requires a framework that supports adjustable autonomy, from explicit teleoperation to a complete autonomy, and an effective and natural mixed-initiative interaction between the human and the robotic team. In this paper, we illustrate the domain and the overall framework discussing the system at work in a simulated case study.