Mixed-Initiative Planning and Execution for Multiple Drones in Search and Rescue Missions
| Autor: | Bevacqua, G., Jonathan Cacace, Finzi, A., Lippiello, V. |
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| Přispěvatelé: | Haslum P.,Domshlak C.,Brafman R.,Zilberstein S., AI Journal,Air Force Office of Scientific Research (AFOSR),David E. Smith,et al.,Israel Science Foundation,National Science Foundation (NSF), Bevacqua, G., Cacace, Jonathan, Finzi, Alberto, Lippiello, Vincenzo |
| Rok vydání: | 2015 |
| Zdroj: | Scopus-Elsevier |
| ISSN: | 2334-0843 2334-0835 |
| DOI: | 10.1609/icaps.v25i1.13700 |
| Popis: | We present a mixed-initiative planning and execution system for human multi-drones interaction during search and rescue missions. The proposed system should allow a single operator to supervise and orchestrate the operations of a set of UAVs by means of a natural multimodal communication. In particular, we consider the task of searching for missing persons in a real-world alpine scenario. In this context, we assume that the human operator is an alpine rescuer, involved in the scene and co-located with the drones, hence not fully dedicated to the robotic platforms, but only able to provide sparse and sketchy interventions. This scenario requires a framework that supports adjustable autonomy, from explicit teleoperation to a complete autonomy, and an effective and natural mixed-initiative interaction between the human and the robotic team. In this paper, we illustrate the domain and the overall framework discussing the system at work in a simulated case study. |
| Databáze: | OpenAIRE |
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