Seeking Human Help to Manage Plan Failure Risks in Semi-Autonomous Mobile Manipulation
Seeking Human Help to Manage Plan Failure Risks in Semi-Autonomous Mobile Manipulation
复制标题
寻求人类帮助来管理半自主移动操作中的计划失败风险
DOI：
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发表时间：
2022
影响因子：
3.1
通讯作者：
Satyandra K. Gupta
中科院分区：
文献类型：
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作者：
Sarah Al;N. Dhanaraj;J. Gregory;R. Joseph;Shantanu Thakar;Brual C. Shah;Jeremy A. Marvel;Satyandra K. Gupta
我们提出了一个框架，用于识别，沟通，并解决共享自主移动的机械手应用程序中的风险。该框架以移动的机械手感知其环境、解释复杂和杂乱场景以及估计可能导致任务失败的动作和配置状态的概率（例如碰撞（即，识别“风险”）。如果超过可接受风险的阈值，则会通知远程操作员，并向其提供及时的可操作信息，使其能够快速评估情况并为机器人提供指导。这个框架演示了一个用例，其中一个移动的机械手执行机器维护和材料处理任务。
We present a framework for identifying, communicating, and addressing risk in shared-autonomy mobile manipulator applications. This framework is centered on the capacity of the mobile manipulator to sense its environment, interpret complex and cluttered scenes, and estimate the probability of actions and configuration states that may result in task failures, such as collision (i.e., identifying “risk”). If the threshold for acceptable risk is exceeded, a remote operator is notified and presented with timely, actionable information in which the person can quickly assess the situation and provide guidance for the robot. This framework is demonstrated with a use case in which a mobile manipulator performs machine tending and material handling tasks.