Human operator cognitive availability aware Mixed-Initiative control

被引：6

作者：

Petousakis, Giannis ^{[1
]}

Chiou, Manolis ^{[2
,3
]}

Nikolaou, Grigoris ^{[1
]}

Stolkin, Rustam ^{[2
,3
]}

机构：

[1] Univ West Attica, Egaleo, Greece

[2] Univ Birmingham, Extreme Robot Lab ERL, Birmingham, W Midlands, England

[3] Univ Birmingham, Natl Ctr Nucl Robot NCNR, Birmingham, W Midlands, England

来源：

PROCEEDINGS OF THE 2020 IEEE INTERNATIONAL CONFERENCE ON HUMAN-MACHINE SYSTEMS (ICHMS) | 2020年

基金：

英国工程与自然科学研究理事会;

关键词：

D O I：

10.1109/ichms49158.2020.9209582

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a Cognitive Availability Aware Mixed-Initiative Controller for remotely operated mobile robots. The controller enables dynamic switching between different levels of autonomy (LOA), initiated by either the AI and/or the human operator. The controller leverages a state-of-the-art computer vision method and an off-the-shelf web camera to infer the cognitive availability of the operator and inform the AI-initiated LOA switching. This constitutes a qualitative advancement over previous Mixed-Initiative (MI) controllers. The controller is evaluated in a disaster response experiment, in which human operators have to conduct an exploration task with a remote robot. MI systems are shown to effectively assist the operators, as demonstrated by quantitative and qualitative results in performance and workload. Additionally, some insights into the experimental difficulties of evaluating complex MI controllers are presented.

引用

页码：598 / 601

页数：4

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