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

被引：6

作者：

Al-Hussaini, Sarah ^{[1
]}

Dhanaraj, Neel ^{[1
]}

Gregory, Jason M. ^{[2
]}

Joseph, Rex Jomy ^{[1
]}

Thakar, Shantanu ^{[1
]}

Shah, Brual C. ^{[1
]}

Marvel, Jeremy A. ^{[3
]}

Gupta, Satyandra K. ^{[1
]}

机构：

[1] Univ Southern Calif, Ctr Adv Mfg, Los Angeles, CA 90007 USA

[2] DEVCOM Army Res Lab, Adelphi, MD 20783 USA

[3] NIST, Gaithersburg, MD 20899 USA

来源：

JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING | 2022年 / 22卷 / 05期

关键词：

human-robot interaction; mobile manipulation; shared autonomy; risk assessment for autonomous systems; HUMAN-ROBOT COLLABORATION; GRASP; LOCALIZATION; OPTIMIZATION; CONSTRAINTS;

D O I：

10.1115/1.4054088

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

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.

引用

页数：18

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