Predictive Planning for Heterogeneous Human-Robot Teams

Ponda, Sameera S.; Choi, Han‐Lim; How, Jonathan P.

doi:10.2514/6.2010-3349

Cited by 23 publications

(6 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Ponda 52 described the development of a real-time decision making framework that allocated tasks for a heterogeneous HRT. The predictive model developed schedules for all of the agents based on agent availability, workload, and any coordination requirements between the humans and robots needed to complete the given task.…”

Section: Hierarchical and Distributed Decision Makingmentioning

confidence: 99%

A Survey of Quantitative Team Performance Metrics For Human-Robot Collaboration

Singer

Akin

2011

41st International Conference on Environmental Systems

View full text Add to dashboard Cite

Humans and robots have been increasingly used not only in the same workspace, but as team members that interact to accomplish overall mission goals. With a multitude of options developing for how humans and robots can simultaneously participate on a team, it has become necessary to quantitatively analyze the performance of the heterogeneous teams to enable comparison between different team configurations. This paper contains a survey of the field of collaborative human and robot team performance metric models, and examines existing overall team quantitative performance models to determine which are more applicable to future human and robotic space exploration missions.

show abstract

Section: Hierarchical and Distributed Decision Makingmentioning

confidence: 99%

A Survey of Quantitative Team Performance Metrics For Human-Robot Collaboration

Singer

Akin

2011

41st International Conference on Environmental Systems

View full text Add to dashboard Cite

show abstract

“…In contrast, the Consensus-Based Bundle Algorithm (CBBA) originally presented in 33,34 consists of an auction process which is performed at the task level rather than at the bundle level, where agents build their bundles in a sequential greedy fashion. The real-time implementation of CBBA has been demonstrated for heterogeneous teams and the algorithm has been extended to account for timing considerations associated with task execution [40][41][42] .…”

Section: Iib Consensus-based Bundle Algorithm (Cbba)mentioning

confidence: 99%

Improving the Efficiency of a Decentralized Tasking Algorithm for UAV Teams with Asynchronous Communications

Johnson

Ponda

Choi

et al. 2010

AIAA Guidance, Navigation, and Control Conference

Self Cite

View full text Add to dashboard Cite

This work presents a decentralized task allocation algorithm for networked agents communicating through an asynchronous channel. The algorithm extends the Consensus-Based Bundle Algorithm (CBBA) to account for more realistic asynchronous communication protocols. Direct implementation of CBBA into such an asynchronous setting requires agents to frequently broadcast their information states, which would cause significant communication overflow. In contrast, the extension proposed in this paper, named Asynchronous CBBA (ACBBA), minimizes communication load while preserving the convergence properties. ACBBA applies a new set of local deconfliction rules that do not require access to the global information state. This new deconfliction protocol also features consistent handling of out-of-order messages and detection of redundant information. A real-time software implementation using multiple PCs communicating through the user datagram protocol (UDP) validates the proposed algorithm.

show abstract

“…However, mission performance would be improved through coordination between the teams. This paper presents a decentralized algorithm based on the Consensus-Based Bundle Algorithm (CBBA) [1], [2], [3], [4]. Inspired by the human centered model, in this paper we extend the CBBA to a hierarchical team structure by incorporating an "outer-loop" Team CBBA.…”

Section: Introductionmentioning

confidence: 99%

A Multi-Team Extension of the Consensus-Based Bundle Algorithm

Argyle

Casbeer

Beard

2011

Proceedings of the 2011 American Control Conference

View full text Add to dashboard Cite

The Consensus-Based Bundle Algorithm (CBBA) is incorporated into a hierarchical concept of operation. In the Team CBBA each team of unmanned vehicles plans for all agents in the team to service a set of tasks. This team planning is carried out separately using the traditional CBBA. An "outer-loop" Team CBBA strategy is presented that coordinates planning between teams of agents. The hierarchical structure of the Team CBBA gives an manageable architecture for large numbers of unmanned agents through human centered operations. This is because each (small) team would be managed by a human operator with the Team CBBA coordinating between teams.

show abstract

Predictive Planning for Heterogeneous Human-Robot Teams

Cited by 23 publications

References 15 publications

A Survey of Quantitative Team Performance Metrics For Human-Robot Collaboration

A Survey of Quantitative Team Performance Metrics For Human-Robot Collaboration

Improving the Efficiency of a Decentralized Tasking Algorithm for UAV Teams with Asynchronous Communications

A Multi-Team Extension of the Consensus-Based Bundle Algorithm

Contact Info

Product

Resources

About