How this paper addresses the problem of task allocation over a heterogeneous team of human operators and robotic agents with the object of. In january 2004 interaction challenges in humanrobot. Technology for humanrobot interaction hri hri atod in soldierrobot teaming. For example, linear welds might be used to construct pressure vessels, work hangers, and shelters too large to raise into space in one piece 15. The variability in mapquality between different teams is a testament to the dif. Evaluation of human robot interaction awareness in search and rescue jean scholtz and jeff young jill l. Constantin s chassapis the field of human robot interaction hri is vast, and, what is more, this nice survey has confirmed that the field is multifarious, extremely dynamic, and very useful, not only academically or technologically speaking, but, most importantly, socially speaking such as robot assisted search and rescue, assistive robots, and space exploration. Introduction much current research focuses on allowing a single human to manage a team of robots. Sliding autonomy, humanrobot teams, peertopeer teams, pickup. Introduction organizations are increasingly relying on the use of work groups. Mixedmode control interfaces of mobile robot teams erik karulf. Constrained interfaces humanrobot teams will require appropriate user interfaces in order to effectively perform exploration field labor.
Cognitive teaming allows the robots to adapt more proactively to the many conscious and subconscious expectations of their human teammates. How this paper addresses the problem of task allocation over a heterogeneous team of human operators and robotic agents with the object of improving mission e ciency and reducing costs. An overview of humanrobot physical interaction control has been proposed in, which reports also a classification of contact types and related injuries as well as a description of collision handling methods. In this paper, we present an asynchronous display method, coined image queue, which allows operators to search through a large amount of data gathered by autonomous robot teams. Evaluation of humanrobot interaction awareness in search and rescue jean scholtz and jeff young jill l. The supervisor guides the team and monitors the overall situation.
This approach provides a natural teaching interface for the robot towards. Humanrobot interaction is the study of interactions between humans and robots. Peshkin, member, ieee abstracthuman partners working on a target acquisition task perform faster than do individuals on the same task, even though the partners consider each other to be an impediment. Atkins2 university of michigan, ann arbor, michigan, 48109. Investigating human perceptions of robot capabilities in. Human robot interaction, multirobot systems, unmannedvehicle, swarms 1. Introduction swarm robotics, especially controlling swarm teams of multiple uvs, have drawn growing attentions in the recent years. Technical approach ongoing human missions to the international space station have an integrated mix of crew working with iva and eva robots teamed with supporting autonomous systems onboard. Ii humanrobot interactions for single robots and multirobot teams alexander hong master of applied science mechanical and industrial engineering university of toronto 2016 abstract for robots to successfully take part in bidirectional social. Map quality pays repeated dividends throughout our system, with corresponding improvements in humanrobot interfaces, planning, etc. Large control delays also make the the shouldertoshoulder.
Depending on the nature of the display, the human interactant might remotely observe the robot from a thirdperson. Humanrobot interface design for large swarms of autonomous mobile robots james mclurkin1, jennifer smith2, james frankel3, david sotkowitz4, david. Evaluation of humanrobot interaction awareness in search. All in all, this work aims to reduce the concern, that deploying human robot teams comes with high costs for external expertise. Humanrobot teams will require appropriate user interfaces in order to effectively perform exploration field labor. Intuitionenabled machine learning beats the competition when. Speci cally, we are developing a range of hri techniques so that humans and robots can work as partners across a range of. Control sharing in humanrobot team interaction mediatum. The challenges posed by cooperative human robot navigation are typically addressed by using haptic feedback via physical. Critical considerations for humanrobot interface development julie a. Seam welding is a task that will be required for building and maintaining a variety of structures on planetary surfaces 14. Humanrobot interactions for single robots and multirobot teams. Humanrobot interaction in rescue robotics request pdf.
Scheggi et al cooperative navigation for mixed humanrobot teams using haptic feedback 463 authors proposed a leaderfollower formation control strategy, which in this paper has been adapted to our particular human robot setup. The task of interacting with multirobot systems mrs, especially with large robot teams, presents unique challenges for the user interface designer. Humans and robots incorporate their different capabilities into the team for the accomplishment of a common goal. James mclurkin aaai spring symposium 2006 speaking swarmish speaking swarmish p h y s i c a l. Humanrobot interaction, teams, adjustable autonomy, dynamic autonomy 1.
In humanrobot teams, a certain percentage of this uncertainty originates from the human operator, to which the robot must adapt on a constant basis. In addition, with the aim to achieve a reasonable convergence of views for the required future developments, our focus will be mostly on the physical aspects2 of the humanrobot collaboration. Designing humanrobot interaction paradigms for multirobot manipulation bennie lewis and gita sukthankar 1 abstract this paper tackles the problem of designing an effective user interface for a multirobot delivery system, composed of robots with wheeled bases and two 3 dof arms. All aspects of human factors and robotics are within the purview of hri research so far as they provide insight into how to improve our understanding in developing effective tools, protocols, and systems to enhance hri. This chapter first gives a brief introduction to various humanrobot interfaces and several technologies of humanrobot interaction using visual sensors and electroencephalography eeg signals. Progress and prospects of the humanrobot collaboration. Physical collaboration of humanhuman and humanrobot teams kyle b.
Human robot interaction hri is increasing in those workplaces where the manual activity is not safe nor efficient in terms of performance e. Exploring the implications of virtual human research for. Sellner et al 6 discuss three major issues that affect human awareness in multi. Atkins2 university of michigan, ann arbor, michigan, 48109 future planetary exploration missions will employ teams of rovers as astronaut assistants and independent scouts. Humanrobot interaction hri is increasing in those workplaces where the manual activity is not safe nor efficient in terms of performance e. A virtual rover interface for collaborative humanrobot. Teams organization and performance analysis in autonomous.
General general terms design, human factors, theory keywords humanrobot interaction, groups, teams, computersupported cooperative work 1. Different control strategies autonomous, manual control, mixed. This article briefly explores potential synergies between the fields of virtual human and humanrobot interaction research. With supervisory control, a human supervises the behavior of an autonomous system and intervenes as necessary. Individual and cooperative tasks must be accurately modeled. Design suggestions and prototypes for robots in group contexts. There are an increasingly large number of hri researchers in the united states. Robot teammates are designed with highlevels of autonomy and welldeveloped coordination skills to aid humans in unpredictable environments. Realtime cooperative behavior for tactical mobile robot. Examination of the gap between social requirements and technical feasibility in human. The objective of the \peertopeer humanrobot interaction p2phri project is to signi cantly advance the stateoftheart in hri to facilitate sustained, a ordable space exploration. Ieee transactions on robotics 1 the impact of humanrobot.
Research experience includes working with pioneers, atrvjrs, amigobots, egators and lagr robots. They provide the user with directional cues in order to reach the. Deliver a suite of test methods, protocols, and information models to assess and assure that robots working collaboratively in humanrobot and robotrobot teams will complete their assigned tasks safely and correctly while meeting their assembly performance objectives. The idea of sliding autonomy allows a human, and a robot, to change the level of autonomy as needed. All in all, this work aims to reduce the concern, that deploying humanrobot teams comes with high costs for external expertise. Humanrobot interaction world technology evaluation center. The discussed humanrobot teams consist of a remote supervisor and several team members humans and robots in the workspace. A preliminary study of peertopeer humanrobot interaction. These challenges are very different from those arising in interactions with a single or limited number. To achieve the specified objective, the performance of collaborative robot. We show that the robothuman teams are able to increase the prediction accuracy to 75. This report provides a detailed study of the design of feasible humanrobot interfaces for. Realtime cooperative behavior for tactical mobile robot teams skills impact study for tactical mobile robot operational units november 2000. Survey on humanrobot collaboration in industrial settings.
A virtual rover interface for collaborative humanrobot exploration teams catharine l. We discuss and investigate the advantages of an asynchronous display for foraging tasks with emphasis on urban search and rescue. In particular, we argue that interfaces can be key in helping nonexpert users to collect good learning examples and, thus, improve the performance of the overall learning system. This report provides a detailed study of the design of feasible humanrobot interfaces for nearterm deployment in a robot unit, defined as a tightly coupled group of humans using a multiplicity of robots as tactical tools. Humanrobot interfaces for interacting with hundreds of autonomous robots must be very different from singlerobot interfaces. Karulf, erik, mixedmode control interfaces of mobile robot teams 2011. At the same time, improper design of such robot autonomy could increase the human s cognitive load, leading to the loss of teaming situation. General terms human factors, experimentation, performance, algorithms keywords humanrobot interaction, metrics, evaluation, multirobot.
Discussion of challenges for user interfaces in human. The performance of collaborative robot systems project will provide the methods, protocols, and metrics necessary to evaluate the collaborative capabilities of robot systems, and will use a taskdriven decomposition of manufacturing processes to assess and assure the safety and effectiveness of human robot and robot robot collaborative teams. Humanrobot interactions for single robots and multirobot. At the teleoperation extreme, a human remotely controls a mobile robot or robotic arm.
Humanrobot interaction is an advanced technology and plays an increasingly important role in robot applications. Current research interests lie with identifying performance metrics of human robot teams, and specifically with the use of faulttolerance to improve system performance. Critical considerations for humanrobot interface development. Additionally, to take full advantage of human skills, it is important that intuitive user interfaces are properly designed, so that human operators can easily program and interact with the robot. The workshop discussed emerging interface and autonomy themes that could be. Humanrobot interaction hri has recently received considerable attention in the. From this research, there appear to be two paradigms that are most frequently discussed.
In january 2004 interaction challenges in humanrobot space. Predictive planning for heterogeneous humanrobot teams. The team formed by manuela veloso consisted of panelists with a rich complementary set of. However, the complexity of this approach is exponential and leads to computational intractability for problems of interest in largescale factory operations 4. Other applications of such interactive robots can be seen in 1, 2.
Minor position and orientation errors may be corrected using motion compliance, but large deviations from preplanned trajectories will require the robot to parameterize and adjust its plans. Scalable target detection for large robot teams proceedings. Another example is the case of providing a team of operators on a large chemical processing machine with the appropriate information regarding all portions of the machines. Drury nist the mitre corporation gaithersburg, md, usa bedford, ma, usa jean. Predictive planning for heterogeneous humanrobot teams sameera s. Human robot interactions for single robots and multi robot teams alexander hong master of applied science mechanical and industrial engineering university of toronto 2016 abstract for robots to successfully take part in bidirectional social interactions with people, they must be capable of recognizing and responding to human affect. Technologies for humanrobot interactions hri in soldier. The design of the interface has a significant influence on the achievable performance in human robot team interaction. Evaluation of humanrobot interaction awareness in search and. The key issues in the design of interactive robots are safety. A virtual rover interface for collaborative human robot exploration teams catharine l. The challenges posed by cooperative humanrobot navigation are typically addressed by using haptic feedback via physical. Humanrobot teams intelligent scalable interface intelligent agents and adaptive automation. Intuitionenabled machine learning beats the competition.
In this paper, we challenge the assumption that robots will succeed as teammates alongside humans. Integrated intelligence for humanrobot teams robotics institute. Autonomy should make human crews independent from earth and robotic missions more capable. Then, we present four alternative humanrobot interfaces.
Pdf collaboration in humanrobot teams researchgate. Collaboration in humanrobot teams personal robots group mit. Enabling endusers to deploy flexible humanrobot teams to. Fast scheduling of multirobot teams with temporospatial. We used these competitions to study a number of humanrobot interfaces to determine what information helps the operator. Because humans will need to interact with robots in a variety of ways different levels of autonomy, different spatial arrangements, etc. There is a strong relationship between three phases of. Interaction challenges in humanrobot space exploration. If the robot planned a poor navigation path, a user could manually specify the waypoints of an optimal path. The team has become a popular model to organize joint humanrobot behavior. Humanrobot interaction is a multidisciplinary field with contributions from humancomputer interaction, artificial intelligence, robotics, natural language understanding, design, humanities and social sciences. The humanrobot interaction operating system ntrs nasa.
Current research interests lie with identifying performance metrics of humanrobot teams, and specifically with the use of faulttolerance to improve system performance. We consider challenges in advancing the effectiveness of humanrobot teams makes recommendations for enhancing this by facilitating synergies between robotics and virtual human research. The objective of the \peertopeer human robot interaction p2phri project is to signi cantly advance the stateoftheart in hri to facilitate sustained, a ordable space exploration. The user interface builds the bridge between the human and robot team, and determines the command and feedback information for the human user and its representation. Constantin s chassapis the field of humanrobot interaction hri is vast, and, what is more, this nice survey has confirmed that the field is multifarious, extremely dynamic, and very useful, not only academically or technologically speaking, but, most importantly, socially speaking such as robotassisted search and rescue, assistive robots, and space exploration. Cooperative navigation for mixed humanrobot teams using.
We further show, that endusers can setup the system quickly and operate the whole toolchain effortlessly. For example, a significant research effort is being devoted to designing human. These studies indicate that mechanisms to increase trust could play an important role in increasing the performance of humanrobot teams. May 19, 2016 humanrobot interaction is an advanced technology and plays an increasingly important role in robot applications. Smart manufacturing and the promotion of artificially.
Humanrobot interaction is prominently seen in applications such as rescue robots, space support etc. The design of the interface has a significant influence on the achievable performance in humanrobot team interaction. Eastman kodaks estar roll coating machines are very complex machines in which there exist many subsections. Predictive planning for heterogeneous human robot teams sameera s. The purpose of this paper is to draw upon the vast bank of human factors research and indicate how the existing results may be applied to the field of human. For the latter, four possible robot reactions in response to the contact are presented. Critical considerations for human robot interface development julie a. For example, a significant research effort is being devoted to designing human robot interface. Constrained interfaces human robot teams will require appropriate user interfaces in order to effectively perform exploration field labor. In addition, with the aim to achieve a reasonable convergence of views for the required future developments, our focus will be mostly on the physical aspects2 of the human robot collaboration. For illustration purposes, consider a robot that explores a warehouse. Humanrobot interaction hri has recently received considerable attention in the academic community, in labs, in technology compa nies, and through the media. Provide intelligent, scalable mounted and dismounted control for unmanned ground and air systems and optimize humanrobot teams.
Human robot interaction research is diverse and covers a wide range of topics. Discriminative and adaptive imitation in unimanual and bimanual. Evaluation of humanrobot interaction awareness in search and rescue. Control sharing in humanrobot team interaction sciencedirect. Exploration and mapping with autonomous robot teams. Asynchronous control with atr for large robot teams.
1487 320 94 516 243 1186 5 1117 101 514 1452 1315 607 859 606 800 836 494 308 1597 1195 1597 351 1238 1229 518 496 913 1048 295 216 829 810 377 500 156 1295 1348 741 693 863 1322 1106 1357 414 358 994