Using adjustable autonomy and human–machine cooperation to make a human–machine system resilient – Application to a ground robotic system
| Autor: | Stéphane Zieba, Frédéric Vanderhaegen, Philippe Polet |
|---|---|
| Rok vydání: | 2011 |
| Předmět: |
Information Systems and Management
Human machine cooperation business.industry Computer science Distributed computing media_common.quotation_subject Computer Science Applications Theoretical Computer Science Formalism (philosophy of mathematics) Robotic systems Artificial Intelligence Control and Systems Engineering Human–machine system Artificial intelligence business Software Autonomy media_common |
| Zdroj: | Information Sciences. 181:379-397 |
| ISSN: | 0020-0255 |
| DOI: | 10.1016/j.ins.2010.09.035 |
| Popis: | This study concerns autonomous ground vehicles performing missions of observation or surveillance. These missions are accomplished under the supervision of human operators, who can also remotely control the unmanned vehicle. This kind of human-machine system is likely to face perturbations in a dynamic natural environment. However, human operators are not able to manage perturbations due to overload. The objective of this study is to provide such systems with ways to anticipate, react and recover from perturbations. In other words, these works aim at improving system resilience so that it can better manage perturbations. This paper presents a model of human-robot cooperative control that helps to improve the resilience of the human-machine system by making the level of autonomy adjustable. A formalism of agent autonomy is proposed according to the semantic aspects of autonomy and the agent's activity levels. This formalism is then used to describe the activity levels of the global human-machine system. Hierarchical decision-making methods and planning algorithms are also proposed to implement these levels of activity. Finally, an experimental illustration on a micro-world is presented in order to evaluate the feasibility and application of the proposed model. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|
Full Text from ScienceDirect