Experimental analysis of a variable autonomy framework for controlling a remotely operating mobile robot

Abstract

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An Analysis of Degraded Communication Channels in Human-Robot Teaming and Implications for Dynamic Autonomy Allocation

“…Most similar to our work, Choiu et al [5] perform a virtual experiment where subjects navigate a mobile robot through an obstacle course while noise is added at a specific section of the map. The users operate in three modes (1) full teleoperation (2) goal selection and (3) manual switching between goal selection and full teleoperation.…”

Localisation of Unmanned Underwater Vehicles (UUVs) in Complex and Confined Environments: A Review

“…UUV operation is not a binary choice between fully manual or fully autonomous, rather there are different levels of autonomy (LoA) [35]. For this work, we will adopt and adapt the six levels of autonomy proposed for surgical robots in [36].…”

Human operator cognitive availability aware Mixed-Initiative control

“…Operator's initiated LOA switches are based on their judgment. Previous work [3], [11] showed that humans are able to determine when they need to change LOA in order to improve performance. AI initiated LOA switches are based on a fuzzy inference engine.…”

“…The advantage of such HRS lies in the complementing capabilities of humans and Artificial Intelligence (AI). In a VA system control can be traded between a human operator and a robot by switching between different Levels of Autonomy [3], e.g. the robot can navigate autonomously while the operator is multitasking.…”