Satisficing Trust in Human Robot Teams

在这个项目中，我们设计和发展了人-机器人团队(使用真实机器人的实验和强化学习的建模)来进行城市搜索和相关活动。一个团队将由1-3名人类操作员和2-6名机器人组成。我们将“团队”的定义扩展到机器人和地面人类之外。将业务活动与重大事件的管理(在英国紧急服务部门)相类比，业务活动在“青铜”级别执行，即由“银牌”级别的战术协调员监督的本地人-机器人团队执行，例如，提供法律或其他限制方面的指导，并对“黄金”级别的高级战略指挥负责，例如，重新定义任务目标等。交流可能是断断续续的，特派团的目标和限制可能会在任务期间发生变化。这是信任变化的另一个驱动因素，以及任务、活动、情况等。每个团队成员，无论是人类还是机器人，都将被分配到团队中的任务，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情景意识的能力，即团队成员将对他们所看到的情况有自己的理解，并对队友的行为有自己的理解。队友的行为可以通过观察队友在特定情况下所做的事情来推断，以及这是否是意料之中的。这创造了信任的行为标志。我们还考虑了队友表达情境意识的信心，例如，他们对情境中感知到的数据的解读。从对队友行为的解读中，我们探索了适当规模的信任(使用信任阶梯的概念，信任在梯子上上下移动，取决于情境意识的质量、队友的行为、情境构成的威胁)。从分布式情境意识出发，我们还探索了反事实(假设)推理，以应对不确定和模棱两可的情境(其中模糊性可能与执行任务的许可和权利有关，或者与行动的后果有关，以及情境感知)。

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).