期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 4, 期 2, 页码 239-246出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2018.2886406
关键词
Telerobotics and teleoperation; social human-robot interaction; human factors and human-in-the-loop
类别
资金
- National Science Foundation [CMMI-1454139]
We propose a trust and self-confidence-based autonomy allocation strategy to automatically choose between manual and autonomous control of (semi)autonomous mobile robots in guidance and navigation tasks. We utilize a performance-centric, computational trust and self-confidence model and automated autonomy allocation strategy, developed in our earlier work (H. Saeidi and Y. Wang, Trust and self-confidence based autonomy allocation for robotic systems, in Proc. 54th IEEE Conf. Decis. Control, 2015, pp. 6052-6057.), based on objective and unbiased performance measures for the human and the robot. A set of robot simulations with a human-in-the-loop is conducted for a teleoperated unmanned aerial vehicle tracking task. The results demonstrate that our allocation strategy can capture human autonomy allocation pattern with an accuracy of 64.05%. We also show that the strategy can improve the overall robot performance by 11.76% and reduce operator's workload by 10.07% compared to a manual allocation. Moreover, compared to a performance maximization strategy, our strategy is 23.42% more likely to he accepted and generally preferred and trusted by the participants. Furthermore, we design a decision pattern correction algorithm based on nonlinear model predictive control to help a human operator gradually adapt to a modified allocation pattern for improved overall performance.
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