Coordinated Multiagent Teams and Sliding Autonomy for Large-Scale Assembly
Coordinated Multiagent Teams and Sliding Autonomy for Large-Scale Assembly
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DOI：
10.1109/jproc.2006.876966
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发表时间：
2006-08
影响因子：
20.6
通讯作者：
Brennan Sellner;F. Heger;Laura M. Hiatt;R. Simmons;Sanjiv Singh
中科院分区：
文献类型：
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作者：
Brennan Sellner;F. Heger;Laura M. Hiatt;R. Simmons;Sanjiv Singh
最近的研究在人机交互的概念进行了调查，滑动，或可调，自主，操作模式之间的差距明确遥操作和完全的机器人自主性的桥梁差距。这项工作在很大程度上是在单智能体领域，只涉及一个人和一个机器人，并没有研究多智能体领域出现的问题。我们讨论的问题，涉及适应滑动自治的概念，协调多智能体团队。在我们的方法中，远程人类操作员能够随意加入或离开团队，以协助自主代理完成任务（或任务的各个方面），同时不会破坏团队的协调。代理对自己和操作员在子任务上的表现进行建模，以使他们能够确定何时向操作员请求帮助。为了验证我们的方法，我们提出了两个实验的结果。第一个评估的人类/多机器人团队的表现下，四种不同的合作策略，包括完整的遥操作，纯自治，和两个不同版本的滑动自治。第二个实验比较了各种用户界面配置，以调查人类操作员在被要求提供帮助时能够多快地获得情境感知。这些研究的结果支持了我们的信念，即通过将远程人类操作员纳入多智能体团队，团队作为一个整体变得更加强大和高效
Recent research in human-robot interaction has investigated the concept of Sliding, or Adjustable, Autonomy, a mode of operation bridging the gap between explicit teleoperation and complete robot autonomy. This work has largely been in single-agent domains-involving only one human and one robot-and has not examined the issues that arise in multiagent domains. We discuss the issues involved in adapting Sliding Autonomy concepts to coordinated multiagent teams. In our approach, remote human operators have the ability to join, or leave, the team at will to assist the autonomous agents with their tasks (or aspects of their tasks) while not disrupting the team's coordination. Agents model their own and the human operator's performance on subtasks to enable them to determine when to request help from the operator. To validate our approach, we present the results of two experiments. The first evaluates the human/multirobot team's performance under four different collaboration strategies including complete teleoperation, pure autonomy, and two distinct versions of Sliding Autonomy. The second experiment compares a variety of user interface configurations to investigate how quickly a human operator can attain situational awareness when asked to help. The results of these studies support our belief that by incorporating a remote human operator into multiagent teams, the team as a whole becomes more robust and efficient