Sharing and trading in a telerobotics system

Abstract

With the functions of physical robots now extended beyond academia into factories, homes and fields, the interactions between humans and robots have become increasingly extensive and ubiquitous. The current state of human interaction with robots in comparison to simple "machines" that operate in structured environment, such as industrial robotics, is quite different. Robots differ from these machines in that they are capable of functioning in evolving situations, reasoning and acting in a relatively complex domain. The deployment of these robots leads to an important research issue in the design and development of a Human-Robot System (HRS), i.e. to look into how human and robot can interact seamlessly to accomplish task objectives. v

Advances in Service Robotics

“…In the context of semi-autonomous control, HRI practitioners and researchers normally adopt certain interaction paradigms for human delegation of control to the robotics system, where the control can be taken back or shared dynamically (i.e. sharing and trading of control) during operation (Ong, 2006). Their interaction paradigm can be characterized by the interaction roles and relationships between humans and the robots in an HRS.…”

“…as in adaptive task allocation for automated system (Hancock, 1992)) to trigger task reallocations dynamically based on predefined conditions. For successful accomplishment of a particular task in an HRS, both human and robot should cooperate through varying degree of human control, robot autonomy and appropriate human-robot communication when problem arises (Ong, 2006). This implies that task reallocation not only require to reallocate task responsibilities among human and robot (i.e.…”

Deployment issues of unmanned aerial vehicles in an urban environment

“…Firstly, the highest level of behavior that could be achieved by the COTS autopilot is the waypoint navigation behavior, which is a deliberative behavior. The deliberative behavior 1 has high-level of intelligence that will decide on the navigation paths based on the a-prior knowledge of the SUAV's flight envelope [26,27]. The COTS autopilot does not include the reactive behavior 2 , which is a control approach that reacts almost instantly to external stimulus without excessive planning [28].…”

“…When an UAV is deployed autonomously, it does not imply that throughout the operation, the UAV is thoroughly self-governing and is totally self-planning and self-control [26]. However, during the deployment, the UAV is capable of performing a given task on its own without the need of being supervised for a defined period of time [32].…”

“…Although, human's intervention reduces as the level of autonomy of the UAV increases, the role of humans in the entire deployment is still very significant, as the human focus on less hectic roles such as to continuously plan missions or to perform decision making tasks. The aim of collaboration between the human and UAV is to exploits each other's unique strength and to achieve mutual compensation of each other weaknesses [26,36,37]. For instance, UAV which is equipped with embedded microprocessors can synthesize sensors reading at an extremely fast rate (in term of milliseconds), thus giving them an advantage to react to a sudden danger instantaneously.…”