Follow-up analysis of mobile robot failures

Carlson, Jennifer; Murphy, Robin R.; Nelson, Andrew

doi:10.1109/robot.2004.1302508

Cited by 83 publications

(51 citation statements)

References 9 publications

(3 reference statements)

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“…Recoverable failures were categorized into 4 major types, based on the data for commonly occurring non terminal and field repairable failures for the Pioneer P3-AT [11]. Two of these, camera and map failures, involve loss of display due to communication difficulties.…”

Section: Types Of Failuresmentioning

confidence: 99%

Task Switching and Single vs. Multiple Alarms for Supervisory Control of Multiple Robots

Lewis

Chien

Mehortra

et al. 2014

Engineering Psychology and Cognitive Ergonomics

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Abstract. Foraging tasks, such as search and rescue or reconnaissance, in which UVs are either relatively sparse and unlikely to interfere with one another or employ automated path planning, form a broad class of applications in which multiple robots can be controlled sequentially in a round-robin fashion. Such human-robot systems can be described as a queuing system in which the human acts as a server while robots presenting requests for service are the jobs. The possibility of improving system performance through well-known scheduling techniques is an immediate consequence. Unfortunately, real human-multirobot systems are more complex often requiring operator monitoring and other ancillary tasks. Improving performance through scheduling (jobs) under these conditions requires minimizing the effort expended monitoring and directing the operator's attention to the robot offering the most gain. Two experiments investigating scheduling interventions are described. The first compared a system in which all anomalous robots were alarmed (Open-queue), one in which alarms were presented singly in the order in which they arrived (FIFO) and a Control condition without alarms. The second experiment employed failures of varying difficulty supporting an optimal shortest job first (SJF) policy. SJF, FIFO, and Open-queue conditions were compared. In both experiments performance in directed attention conditions was poorer than predicted. A possible explanation based on effects of volition in task switching is proposed.

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Section: Types Of Failuresmentioning

confidence: 99%

Task Switching and Single vs. Multiple Alarms for Supervisory Control of Multiple Robots

Lewis

Chien

Mehortra

et al. 2014

Engineering Psychology and Cognitive Ergonomics

View full text Add to dashboard Cite

show abstract

“…Recoverable failures were categorized into 4 major types, based on the data for commonly occurring non terminal and field repairable failures for the Pioneer P3-AT [10]. Two of these, camera and map failures, involve loss of display due to communication difficulties.…”

Section: Types Of Failuresmentioning

confidence: 99%

Scheduling operator attention for Multi-Robot Control

Chien¹,

Lewis²,

Mehrotra³

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-A wide class of multirobot control tasks involves operator interactions with individual robots. Where the robots' actions are independent, as for example in some foraging tasks, the operator can interact with robots sequentially in a round robin fashion. If the need for interaction can be detected by the robot through selfreflection, the robot could communicate its need for interaction to the operator. The resulting human-robot system would form a queuing system in which the operator is the server and the queue of robots requesting interaction, the jobs. As a queuing system, performance could be optimized using standard techniques, providing the operator's attention could be appropriately directed. An earlier study found that HumanRobot Interaction (HRI) performance was improved by communicating requests for interaction to the operator, however, a first-in-first-out (FIFO) aid showing a single request at a time led to poorer performance than one showing the entire (Open) queue. The current experiment compared Open-queue and FIFO conditions from the first experiment with a Priority-queue using a shortest job first (SJF) discipline known to maximize throughput. Performance in the Priorityqueue condition was statistically indistinguishable from the best performance for all measures except those for missed victims where it was intermediate between FIFO (best) and Open-queue. Both of the other conditions produced poorest performance on some measures. The results suggest that operator attention can be effectively scheduled allowing the use of scheduling algorithms to improve the efficiency of HRI.

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“…While these types of failures are significant, and in fact are the dominating failure modes for most robots today (Carlson 2003(Carlson , 2004(Carlson , 2005, we contend that these failure modes are not in need of modeling so much as they are in need of correction. These failures are the result of errors and can be reduced, if not eliminated, through process control.…”

Section: Types Of Failure Addressedmentioning

confidence: 99%