Using confidence factors to share control between a mobile robot tele-operater and ultrasonic sensors

Sanders, David; Sanders, Benjamin John; Gegov, Alexander; Ndzi, David

doi:10.1109/intellisys.2017.8324255

Cited by 8 publications

(5 citation statements)

References 48 publications

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“…Prior works related to robot confidence have focused on the allocation of control between human and robot [39], influencing operator behavior [38], or otherwise directly communicating the robot's self-assessed state [40][41][42][43]. Other work is aimed at intrinsic motivations of the robot [49,50] or understanding of its environment [44].…”

Section: Discussionmentioning

confidence: 99%

“…For example, a robot may provide visual feedback indicating its self-confidence to influence the operator's trust [38]. Alternatively, a model of robot confidence might be used to directly distribute authority, such as setting shared-controller gains to amplify or attenuate inputs from a teleoperator and ultrasonic sensors [39]. Other research includes a robot expressing its certainty in performing policy learned from a human teacher [40][41][42] and modeling a robot's confidence in a human co-worker [43] or its ability to predict human actions in a shared environment [44].…”

Section: Background 21 Robot Confidencementioning

confidence: 99%

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Multirobot Confidence and Behavior Modeling: An Evaluation of Semiautonomous Task Performance and Efficiency

Lucas

Pandya

2021

Robotics

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There is considerable interest in multirobot systems capable of performing spatially distributed, hazardous, and complex tasks as a team leveraging the unique abilities of humans and automated machines working alongside each other. The limitations of human perception and cognition affect operators’ ability to integrate information from multiple mobile robots, switch between their spatial frames of reference, and divide attention among many sensory inputs and command outputs. Automation is necessary to help the operator manage increasing demands as the number of robots (and humans) scales up. However, more automation does not necessarily equate to better performance. A generalized robot confidence model was developed, which transforms key operator attention indicators to a robot confidence value for each robot to enable the robots’ adaptive behaviors. This model was implemented in a multirobot test platform with the operator commanding robot trajectories using a computer mouse and an eye tracker providing gaze data used to estimate dynamic operator attention. The human-attention-based robot confidence model dynamically adapted the behavior of individual robots in response to operator attention. The model was successfully evaluated to reveal evidence linking average robot confidence to multirobot search task performance and efficiency. The contributions of this work provide essential steps toward effective human operation of multiple unmanned vehicles to perform spatially distributed and hazardous tasks in complex environments for space exploration, defense, homeland security, search and rescue, and other real-world applications.

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Section: Discussionmentioning

confidence: 99%

Section: Background 21 Robot Confidencementioning

confidence: 99%

Multirobot Confidence and Behavior Modeling: An Evaluation of Semiautonomous Task Performance and Efficiency

Lucas

Pandya

2021

Robotics

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“…Difficulties of managing inventory in large complex operational environments originate from randomness and various intertwining business processes [9]. It is hard to monitor, collect, and process necessary information and to make realtime decisions based on seemingly random information [10].…”

Section: Figure 1 Traditional Warehouse Management Systemmentioning

confidence: 99%

Review of key technologies for warehouse 3D reconstruction

Hao

Tan²,

Tai³

et al. 2022

JMES

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Most of the current warehouse management system is made out of two-dimensional (2D) plane schematic warehouse, which brings a lot of inconvenience to warehouse management, including the warehouse data, storage of goods, location search, inventory, etc. 3D warehouse model began to attract attention as it can provide more intuitive view of warehouse-related information. This paper aims to review and investigate the current key technologies used for 3D modeling of warehouse system. This paper reviewed the method of 3D view reconstruction of the warehouse management system, including the active and passive, active and passive fusion methods, and makes a detailed comparison between the active and passive methods. It was found that different methods were applied to reconstruct the 3D view of warehouse, each with its own advantages and disadvantages.

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“…Steps were: a) Dynamic modelling component, for forecasting reaction to obstacles and veer due to surface changes [21,22]. b) Data assimilation system to ingest data collected from the user joystick and ultrasonic sensors [23][24][25][26][27][28]. c) Prediction System based on systems being developed for routing ships [29,30] to estimate reliability of optimized routing solutions.…”

Section: A Forecastingmentioning

confidence: 99%

Route Optimization using Forecasting, Wheelchair Modelling and Path Planning

Sanders

Tewkesbury

Haddad

et al. 2021

2021 IEEE International Intelligent Transportation Systems Conference (ITSC)

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In routing systems, the capability to generate reliable safe routes depends on the integration of a path optimization algorithm with dynamics and models. In this work, a system based on a novel route optimization algorithm is considered. The sensitivity of the lowest energy solutions is analyzed considering different simplified wheelchair models. The aim is to implement a system for routing wheelchairs around obstacles so that more people can safely drive powered wheelchairs. Powered wheelchairs can positively impact participation, activity, wellbeing, pain and self-esteem. Systems described here can allowing more autonomous or collaborative driving, and enhance mobility of disabled individuals finding it difficult to use standard powered wheelchairs. The work included a small qualitative exploratory study that exposed three topics: (a) "situations that might benefit from path planning and obstacle avoidance; (b) "optimism concerning the use of technological systems on powered wheelchairs"; (c) "characteristics of disabled users that could benefit from using a powered wheelchair". Findings indicated that the systems presented in this paper could help to overcome some of the difficulties in using powered wheelchairs.

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Using confidence factors to share control between a mobile robot tele-operater and ultrasonic sensors

Cited by 8 publications

References 48 publications

Multirobot Confidence and Behavior Modeling: An Evaluation of Semiautonomous Task Performance and Efficiency

Multirobot Confidence and Behavior Modeling: An Evaluation of Semiautonomous Task Performance and Efficiency

Review of key technologies for warehouse 3D reconstruction

Route Optimization using Forecasting, Wheelchair Modelling and Path Planning

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