Seeking Human Help to Manage Plan Failure Risks in Semi-Autonomous Mobile Manipulation

Autor:	Sarah Al-Hussaini, Neel Dhanaraj, Jason M. Gregory, Rex Jomy Joseph, Shantanu Thakar, Brual C. Shah, Jeremy A. Marvel, Satyandra K. Gupta
Rok vydání:	2022
Předmět:	Computer Graphics and Computer-Aided Design Industrial and Manufacturing Engineering Software Computer Science Applications
Zdroj:	Journal of Computing and Information Science in Engineering. 22
ISSN:	1944-7078 1530-9827
DOI:	10.1115/1.4054088
Popis:	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.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::ff650f8047c50d80b5766840119d941b https://doi.org/10.1115/1.4054088 Zobrazit plný text záznamu