Satisficing Trust in Human Robot Teams

在这个项目中，我们设计和开发人-机器人团队（使用真实机器人实验和强化学习建模）来进行城市搜索和相关活动。每队由1-3名人工操作员和2-6名机器人组成。我们扩展了“团队”的定义，超越了地面上的机器人和人类。与重大事件的管理（在英国紧急服务部门）类似，业务活动是在“铜”级执行的，即由当地的人机团队执行，由“银”级战术协调员监督，例如，就法律或其他限制提供指导，并在“金”级响应高级战略命令，例如，重新定义任务目标等。通过这种方式，“团队”不仅仅是当地的协调和信任，可以通过命令层次结构以及横向跨越每个级别。通信可能是断断续续的，任务的目标和限制可能在任务期间发生变化。这是信任变化的进一步驱动因素，还有使命、活动、情况等。每个团队成员，无论是人还是机器人，都将在团队中分配任务，并以自主的方式执行这些任务。团队绩效的关键将是获得和保持分布式态势感知的能力，也就是说，团队成员将对他们所看到的形势有自己的解释，以及他们对队友行为的解释。队友的行为可以通过观察队友在特定情况下的行为来推断，以及这是否在预料之中。这创造了信任的行为标志。我们还会考虑团队成员表达情境意识的信心，例如，根据他们对情境中感知到的数据的解释。从对队友行为的解释出发，我们探索了适当规模的信任（使用“信任阶梯”的概念，信任根据情境意识的质量、队友的行为、情境构成的威胁而上下移动）。从分布式态势感知中，我们还探索了反事实（“假设”）推理，以应对不确定和模糊的情况（其中模糊性可能与执行任务的权限和权利有关，或者与行动的后果有关，以及态势感知）。

In this project, we design and develop Human-Robot Teams (using experiments with real robots and modelling with Reinforcement Learning) to conduct urban search and related activity. A team will consist of 1-3 human operators and 2-6 robots. We extend the definition of a 'team' beyond robots and humans on the ground. Drawing an analogy with the management of major incidents (in UK Emergency Services), operational activity is performed at the 'bronze' level, i.e., by the local human-robot team which is overseen by tactical coordinators at the 'silver' level, e.g., providing guidance on legal or other constraints, and which answers to high-level strategic command at 'gold' level, e.g., redefining goals for the mission etc. In this way the 'team' is more than local coordination and trust applies through the command hierarchy as well as horizontally across each level. Communication may be intermittent, and the mission's goals and constraints might change during the mission. This is a further driver of variation in trust, along with mission, activity, situation etc. Each team member, human or robot, will be allocated tasks within the team and perform these in an autonomous manner. Key to team performance will be the ability to acquire and maintain Distributed Situation Awareness, i.e., team members will have their own interpretation of the situation as they see it, and their own interpretation of the behaviour of their teammates. Teammate behaviour could be inferred from observation of what teammates are doing in a given situation, and whether this is to be expected. This creates behavioural markers of trust. We also consider the confidence with which teammates might express the Situation Awareness, e.g., in terms of their interpretation of the data they perceive in the situation. From the interpretation of teammate behaviour, we explore appropriately scaled trust (using the concept of a 'ladder of trust' on which trust moves up and down depending on the quality of situation awareness, the behaviour of teammates, the threat posed by the situation). From the Distributed Situation Awareness, we also explore counter-factual ('what-if') reasoning to cope with uncertain and ambiguous situations (where ambiguity might relate to permissions and rights to perform tasks, or to the consequences of an action, as well as Situation Awareness).