Collaboration, dialogue, human-robot interaction (original) (raw)

Robot as Partner: Vehicle Teleoperation with Collaborative Control

Multi-Robot Systems: From Swarms to Intelligent Automata, 2002

We have developed a new teleoperation system model called collaborative control. With this model, the robot asks the human questions, to obtain assistance with cognition and perception during task execution. This enables the human to support the robot and to compensate for inadequacies in autonomy. In the following, we review the system models conventionally used in teleoperation, describe collaborative control, and discuss its use.

Collaboration, Dialogue, and Human-Robot Interaction

International Journal of Robotic Research, 2002

Teleoperation can be improved if humans and robots work as partners, exchanging information and assisting one another to achieve common goals. In this paper, we discuss the importance of collaboration and dialogue in human-robot systems. We then present collaborative control, a system model in which human and robot collaborate, and describe its use in vehicle teleoperation.

Collaborative control: A robot-centric model for vehicle teleoperation

AAAI 1999 Spring Symposium: Agents with …, 1999

Telerobotic systems have traditionally been designed and operated from a human point of view. Though this approach suffices for some domains, it is sub-optimal for tasks such as operating multiple vehicles or controlling planetary rovers. Thus, we believe it is worthwhile to ...

Toward Human-Robot Collaboration

Recently robots have been launched as tour-guides in museums, lawnmowers, in-home vacuum cleaners, and as remotely operated machines in so-called distant, dangerous and dirty applications. While the methods to endow robots with a degree of autonomy have been a strong research focus, the methods for human-machine control have not been given as much attention. As autonomous robots become more ubiquitous, the methods we use to communicate task specification to them become more crucial. This thesis presents a methodology and a system for the supervisory collaborative control of a remote semi-autonomous mobile robot. The presentation centers on three main aspects of the work and offers a description of the system and the motivations behind the design. The supervisory system for human specification of robot tasks is based on a Collaborative Virtual Environment (CVE) which provides an effective framework for scalable robot autonomy, interaction and environment visualization. The system affords the specification of deictic commands to the semi-autonomous robot via the spatial CVE interface. Spatial commands can be specified in a manner that takes into account some specific everyday notions of collaborative task activity. Environment visualization of the remote environment is accomplished by combining the virtual model of the remote environment with video from the robot camera. Finally the system underwent a study with users that explored design and interaction issues within the context of performing a remote search task. Examples of study issues center on the presentation of the CVE, understanding robot competence, presence, control and interaction. One goal of the system presented in the thesis is to provide a direction in human-machine interaction from a form of direct control to an instance of human-machine collaboration.

Advice Provision in Teleoperation of Autonomous Vehicles

Proceedings of the 28th International Conference on Intelligent User Interfaces

Teleoperation of autonomous vehicles has been gaining a lot of attention recently and is expected to play an important role in helping autonomous vehicles handle difficult situations which they cannot handle on their own. In such cases, a remote driver located in a teleoperation center can remotely drive the vehicle until the situation is resolved. However, teledriving is a challenging task and requires many cognitive resources from the teleoperator. Our goal is to assist the remote driver in some complex situations by giving the driver appropriate advice. The advice is displayed on the driver's screen to help her make the right decision. To this end, we introduce the TeleOperator Advisor (TOA), an adaptive agent that provides assisting advice to a remote driver. We evaluate the TOA in a simulation-based setting in two scenarios: overtaking a slow vehicle and passing through a traffic light. Results indicate that our advice helps to reduce the cognitive load of the remote driver and improve driving performance. CCS CONCEPTS • Human-centered computing → Human computer interaction (HCI).

Development and Teleoperation of Robotic Vehicles

2nd AIAA "Unmanned Unlimited" Conf. and Workshop & Exhibit, 2003

Hands on robotics projects provide a wide array of educational benefits. Santa Clara University's robotics program develops a wide range of robotic systems with a level of capability and robustness that supports longterm, applied field operations. These systems support a variety of world-class science investigations and enable the development and operational assessment of a myriad of technology development innovations. This paper provides insight into the Santa Clara program by reviewing the design of several of its student-developed robots and by describing how these robots are used to further research studies related to robotic teleoperation.

A new interface for collaborative teleoperation

Proceedings of the 16th IFAC World Congress, 2005, 2005

This paper presents a conceptual architecture and a new interface developed for collaborative teleoperation via Internet. This interface is based on a MAS (Multi-Agent System) devoted to collaboration. The MAS formalism is based on a new approach combining astutely two research area: MAS and CSCW (Computer Supported Collaborative Work). In the first area, a formal model of the MAS (Ferber approach) is used to give us features of the agent. The second area provides us a useful approach of collaboration based on the communication, coordination and production theories.

Teleoperation mechanisms in a multi-agent system

2008 IEEE International Conference on Emerging Technologies and Factory Automation, 2008

Human judgement is an integral part of the teleoperation process, heavily influenced by the rate in which commands are given to and the telemetry data is received from the robot. In this paper a multi-agent system for robot teleoperation is proposed. Several entities (e.g. robot or human) can easily be added and removed. In addition, this approach fosters a shared notion of reality to every entity present in the network, through a mechanism similar to the distributed blackboard architecture. This method provided an exchange of information regarding the teleoperation scenario, i.e. perceptual clues. This promoted a study on how perceptual clues influenced the operators' judgement and performance. The experimental results in a physical suggest that the system is able to guarantee a close interaction between users and robots.