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Computer Science > Robotics

arXiv:2108.11885 (cs)
[Submitted on 26 Aug 2021]

Title:Human operator cognitive availability aware Mixed-Initiative control

Authors:Giannis Petousakis, Manolis Chiou, Grigoris Nikolaou, Rustam Stolkin
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Abstract:This paper presents a Cognitive Availability Aware Mixed-Initiative Controller for remotely operated mobile robots. The controller enables dynamic switching between different levels of autonomy (LOA), initiated by either the AI or the human operator. The controller leverages a state-of-the-art computer vision method and an off-the-shelf web camera to infer the cognitive availability of the operator and inform the AI-initiated LOA switching. This constitutes a qualitative advancement over previous Mixed-Initiative (MI) controllers. The controller is evaluated in a disaster response experiment, in which human operators have to conduct an exploration task with a remote robot. MI systems are shown to effectively assist the operators, as demonstrated by quantitative and qualitative results in performance and workload. Additionally, some insights into the experimental difficulties of evaluating complex MI controllers are presented.
Comments: 4 pages
Subjects: Robotics (cs.RO); Artificial Intelligence (cs.AI); Human-Computer Interaction (cs.HC); Multiagent Systems (cs.MA)
Cite as: arXiv:2108.11885 [cs.RO]
  (or arXiv:2108.11885v1 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.2108.11885
Journal reference: 2020 IEEE International Conference on Human-Machine Systems (ICHMS)
Related DOI: https://doi.org/10.1109/ICHMS49158.2020.9209582

Submission history

From: Giannis Petousakis [view email]
[v1] Thu, 26 Aug 2021 16:21:56 UTC (7,435 KB)
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