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Single-operator control of multi-robot teams (2004).
| Content Provider | CiteSeerX |
|---|---|
| Advisor | Kaminka, Gal |
| Researcher | Elmaliah, Yehuda Kaminka, A. |
| Abstract | There is growing recognition that many applications of robots will require a human operator to supervise and control multiple robots that collaborate to achieve the operator’s goals. However, the bulk of existing work in this area assumes that robots are independent of each other, and thus ignores key challenges and opportunities in monitoring and operating tightly-coordinating teams. This thesis takes steps to address these open issues. First, we address the challenge of effectively monitoring multiple coordinating robots. We introduce a graphical socially-attentive display that explicitly shows the state of coordination in the team, in terms of the robots ’ state with respect to each other. As a result, the operator can easily detect coordination failures, even before these cause overall failure in the task. Second, we show that in resolving contingencies (callrequests), an opportunity exists for taking advantage of the robots ’ teamwork, to allow the robots to actively assist the operator. We propose a distributed approach to call-request resolution (including two variations), and an implementation method for behavior-based robots. This implementation method allows the |
| File Format | |
| Publisher Date | 2004-01-01 |
| Access Restriction | Open |
| Subject Keyword | Single-operator Control Multi-robot Team Implementation Method Distributed Approach Graphical Socially-attentive Display Open Issue Many Application Call-request Resolution Robot Teamwork Coordination Failure Tightly-coordinating Team Multiple Robot Robot State Ignores Key Challenge Human Operator Behavior-based Robot Operator Goal Cause Overall Failure |
| Content Type | Text |
| Resource Type | Thesis |
