Abstract
This paper explores an approach to human/multi-robot team interaction where a human provides supervisory instruction to a group of robots by assigning tasks and the robot team coordinates to execute the tasks autonomously. A novel, human-centric graph-based model is presented which captures the complexity of task scheduling problems in a dynamic setting and takes into account the spatial distribution of the locations of the tasks and the robots that can complete them. The focus is on problem domains which involve inter-dependent and multi-robot tasks requiring tightly-coupled coordination, occurring in dynamic environments where additional tasks may arrive over time. A user study was conducted to assess the efficacy of this graph-based model. Key factors have been identified, derived from the model, which impact how the human supervisors make task-assignment decisions. The findings presented here illustrate how these key factors capture the complexity of the task-assignment situation and correlate to the mental workload as reported by human supervisors.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Clare, A., Cummings, M.L.: Task-based interfaces for decentralized multiple unmanned vehicle control. In: Proceedings of AUVSI (2011)
Cummings, M., Bruni, S.: Human-automated planner collaboration in complex resource allocation decision support systems. Intelligent Decision Technologies 4(2) (2010)
Endsley, M.R.: Design and evaluation for situation awareness enhancement. In: Proceedings of the Human Factors Society 32nd Annual Meeting (1988)
Gerkey, B.P., Matarić, M.J.: A Formal Analysis and Taxonomy of Task Allocation in Multi-Robot Systems. The International Journal of Robotics Research 23(9) (2004)
Gerkey, B.P., Vaughan, R.T., Howard, A.: The player/stage project: Tools for multi-robot and distributed sensor systems. In: Proceedings of the 11th International Conference on Advanced Robotics (2003)
Kitano, H., Tadokoro, S., Noda, I., Matsubara, H., Takahashi, T., Shinjou, A., Shimada, S.: RoboCup rescue: search and rescue in large-scale disasters as a domain for autonomous agents research. In: IEEE International Conference on Systems, Man, and Cybernetics (1999)
Landén, D., Heintz, F., Doherty, P.: Complex task allocation in mixed-initiative delegation: A UAV case study (Early Innovation). In: Desai, N., Liu, A., Winikoff, M. (eds.) PRIMA 2010. LNCS, vol. 7057, pp. 288–303. Springer, Heidelberg (2012)
Özgelen, A.T., Sklar, E.I.: Modeling and analysis of task complexity in human-robot teams (Late Breaking Report). In: Proceedings of the 9th ACM/IEEE International Conference on Human Robot Interaction (HRI) (2014)
Sklar, E., Parsons, S., Ozgelen, A.T., Schneider, E., Costantino, M., Epstein, S.L.: Hrteam: A framework to support research on human/multi-robot interaction. In: Proc. of Autonomous Agents and Multiagent Systems (AAMAS) (2013)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Özgelen, A.T., Sklar, E.I. (2015). An Approach to Supervisory Control of Multi-Robot Teams in Dynamic Domains. In: Dixon, C., Tuyls, K. (eds) Towards Autonomous Robotic Systems. TAROS 2015. Lecture Notes in Computer Science(), vol 9287. Springer, Cham. https://doi.org/10.1007/978-3-319-22416-9_24
Download citation
DOI: https://doi.org/10.1007/978-3-319-22416-9_24
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-22415-2
Online ISBN: 978-3-319-22416-9
eBook Packages: Computer ScienceComputer Science (R0)