An assigned responsibility system for robotic teleoperation control

Small, N, Lee, K ORCID: https://orcid.org/0000-0002-2730-9150 and Mann, G, 2018. An assigned responsibility system for robotic teleoperation control. International Journal of Intelligent Robotics and Applications. ISSN 2366-5971

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Abstract

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.

Item Type:	Journal article
Publication Title:	International Journal of Intelligent Robotics and Applications
Creators:	Small, N., Lee, K. and Mann, G.
Publisher:	Springer
Date:	19 January 2018
ISSN:	2366-5971
Identifiers:	Number Type 10.1007/s41315-018-0043-0 DOI
Divisions:	Schools > School of Science and Technology
Record created by:	Linda Sullivan
Date Added:	22 Jan 2018 14:14
Last Modified:	22 Jan 2018 14:14
URI:	https://irep.ntu.ac.uk/id/eprint/32500

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