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An assigned responsibility system for robotic teleoperation control

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Version 2 2024-06-18, 09:35
Version 1 2018-08-01, 13:41
journal contribution
posted on 2024-06-18, 09:35 authored by Nicolas Small, Kevin LeeKevin Lee, Graham Mann
This paper proposes an architecture that explores a gap in the spectrum of existing strategies for robot control mode switching in adjustable autonomy. In situations where the environment is reasonably known and/or predictable, pre-planning these control changes could relieve robot operators of the additional task of deciding when and how to switch. Such a strategy provides a clear division of labour between the automation and the human operator(s) before the job even begins, allowing for individual responsibilities to be known ahead of time, limiting confusion and allowing rest breaks to be planned. Assigned Responsibility is a new form of adjustable autonomy-based teleoperation that allows the selective inclusion of automated control elements at key stages of a robot operation plan's execution. Progression through these stages is controlled by automatic goal accomplishment tracking. An implementation is evaluated through engineering tests and a usability study, demonstrating the viability of this approach and offering insight into its potential applications.

History

Journal

International journal of intelligent robotics and applications

Volume

2

Pagination

81-97

Location

Berlin, Germany

Open access

  • Yes

ISSN

2366-598X

eISSN

2366-598X

Language

eng

Publication classification

X Not reportable, CN.1 Other journal article

Issue

1

Publisher

Springer

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