A Negotiation-Theoretic Framework for Control Authority Transfer in Mixed-Initiative Robotic Systems

Simon Rothfus; Manolis Chiou; Jairo Inga; Soren Hohmann; Rustam Stolkin

doi:10.1109/SMC53654.2022.9945196

A Negotiation-Theoretic Framework for Control Authority Transfer in Mixed-Initiative Robotic Systems

Simon Rothfus, Manolis Chiou, Jairo Inga, Soren Hohmann, Rustam Stolkin

Metallurgy and Materials

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper addresses the problem of transfer of control authority between a robot's AI and a remote human operator, when controlling a Mixed-Initiative (MI) robotic system. We propose a negotiation-theoretic method that enables the robot's AI and the human operator to cooperatively and dynamically determine (i. e. negotiate) the transfer of control authority between these two agents. An experimental study is presented in which a state-of-the-art Expert-guided Mixed-Initiative Control Switcher (EMICS) method is compared with our proposed Negotiation-Enabled Mixed-Initiative Control Switcher (NEMICS) algorithm. Results suggest that the NEMICS framework is able to successfully avoid conflicts for control, which is a fundamental challenge encountered with previous MI control methods. Comparing NEMICS with the EMICS, we provide evidence of improved navigational safety (i. e. fewer collisions). Additionally, our usability study suggests that human operators perceived their interactions with NEMICS as less intrusive than with EMICS.

Original language	English
Title of host publication	2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)
Publisher	IEEE
Pages	921-928
Number of pages	8
ISBN (Electronic)	9781665452588, 9781665452571 (USB)
ISBN (Print)	9781665452595 (PoD)
DOIs	https://doi.org/10.1109/SMC53654.2022.9945196
Publication status	Published - 18 Nov 2022
Event	2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022 - Prague, Czech Republic Duration: 9 Oct 2022 → 12 Oct 2022

Publication series

Name	Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Publisher	IEEE
ISSN (Print)	1062-922X
ISSN (Electronic)	2577-1655

Conference

Conference	2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022
Country/Territory	Czech Republic
City	Prague
Period	9/10/22 → 12/10/22

Bibliographical note

Funding Information:
This work was supported by the UKRI-EPSRC grand EP/R02572X/1 (National Centre for Nuclear Robotics) and was approved by the University of Birmingham (ethical review no. ERN 19-0199AP2).

Publisher Copyright:
© 2022 IEEE.

Keywords

Human Factors
Human-Machine Cooperation and Systems
Human-Machine Interface
Human-Robot Interaction
Human-Robot Teaming
Mixed-Initiative Control
Negotiation Theory
Transfer of Control Authority
Variable Autonomy

ASJC Scopus subject areas

Electrical and Electronic Engineering
Control and Systems Engineering
Human-Computer Interaction

Access to Document

10.1109/SMC53654.2022.9945196

National Centre for Nuclear Robotics (NCNR)
Stolkin, R., Leonardis, A. & Stone, B.
Engineering & Physical Science Research Council
2/10/17 → 1/04/22
Project: Research

Cite this

Rothfus, S., Chiou, M., Inga, J., Hohmann, S., & Stolkin, R. (2022). A Negotiation-Theoretic Framework for Control Authority Transfer in Mixed-Initiative Robotic Systems. In 2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC) (pp. 921-928). Article 9945068 (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics). IEEE. https://doi.org/10.1109/SMC53654.2022.9945196

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abstract = "This paper addresses the problem of transfer of control authority between a robot's AI and a remote human operator, when controlling a Mixed-Initiative (MI) robotic system. We propose a negotiation-theoretic method that enables the robot's AI and the human operator to cooperatively and dynamically determine (i. e. negotiate) the transfer of control authority between these two agents. An experimental study is presented in which a state-of-the-art Expert-guided Mixed-Initiative Control Switcher (EMICS) method is compared with our proposed Negotiation-Enabled Mixed-Initiative Control Switcher (NEMICS) algorithm. Results suggest that the NEMICS framework is able to successfully avoid conflicts for control, which is a fundamental challenge encountered with previous MI control methods. Comparing NEMICS with the EMICS, we provide evidence of improved navigational safety (i. e. fewer collisions). Additionally, our usability study suggests that human operators perceived their interactions with NEMICS as less intrusive than with EMICS.",

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Rothfus, S, Chiou, M, Inga, J, Hohmann, S & Stolkin, R 2022, A Negotiation-Theoretic Framework for Control Authority Transfer in Mixed-Initiative Robotic Systems. in 2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC)., 9945068, Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics, IEEE, pp. 921-928, 2022 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2022, Prague, Czech Republic, 9/10/22. https://doi.org/10.1109/SMC53654.2022.9945196

A Negotiation-Theoretic Framework for Control Authority Transfer in Mixed-Initiative Robotic Systems. / Rothfus, Simon; Chiou, Manolis; Inga, Jairo et al.
2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC). IEEE, 2022. p. 921-928 9945068 (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - A Negotiation-Theoretic Framework for Control Authority Transfer in Mixed-Initiative Robotic Systems

AU - Rothfus, Simon

AU - Chiou, Manolis

AU - Inga, Jairo

AU - Hohmann, Soren

AU - Stolkin, Rustam

N1 - Funding Information: This work was supported by the UKRI-EPSRC grand EP/R02572X/1 (National Centre for Nuclear Robotics) and was approved by the University of Birmingham (ethical review no. ERN 19-0199AP2). Publisher Copyright: © 2022 IEEE.

PY - 2022/11/18

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N2 - This paper addresses the problem of transfer of control authority between a robot's AI and a remote human operator, when controlling a Mixed-Initiative (MI) robotic system. We propose a negotiation-theoretic method that enables the robot's AI and the human operator to cooperatively and dynamically determine (i. e. negotiate) the transfer of control authority between these two agents. An experimental study is presented in which a state-of-the-art Expert-guided Mixed-Initiative Control Switcher (EMICS) method is compared with our proposed Negotiation-Enabled Mixed-Initiative Control Switcher (NEMICS) algorithm. Results suggest that the NEMICS framework is able to successfully avoid conflicts for control, which is a fundamental challenge encountered with previous MI control methods. Comparing NEMICS with the EMICS, we provide evidence of improved navigational safety (i. e. fewer collisions). Additionally, our usability study suggests that human operators perceived their interactions with NEMICS as less intrusive than with EMICS.

AB - This paper addresses the problem of transfer of control authority between a robot's AI and a remote human operator, when controlling a Mixed-Initiative (MI) robotic system. We propose a negotiation-theoretic method that enables the robot's AI and the human operator to cooperatively and dynamically determine (i. e. negotiate) the transfer of control authority between these two agents. An experimental study is presented in which a state-of-the-art Expert-guided Mixed-Initiative Control Switcher (EMICS) method is compared with our proposed Negotiation-Enabled Mixed-Initiative Control Switcher (NEMICS) algorithm. Results suggest that the NEMICS framework is able to successfully avoid conflicts for control, which is a fundamental challenge encountered with previous MI control methods. Comparing NEMICS with the EMICS, we provide evidence of improved navigational safety (i. e. fewer collisions). Additionally, our usability study suggests that human operators perceived their interactions with NEMICS as less intrusive than with EMICS.

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Rothfus S, Chiou M, Inga J, Hohmann S, Stolkin R. A Negotiation-Theoretic Framework for Control Authority Transfer in Mixed-Initiative Robotic Systems. In 2022 IEEE International Conference on Systems, Man, and Cybernetics (SMC). IEEE. 2022. p. 921-928. 9945068. (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics). doi: 10.1109/SMC53654.2022.9945196

A Negotiation-Theoretic Framework for Control Authority Transfer in Mixed-Initiative Robotic Systems

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

Fingerprint

Projects

National Centre for Nuclear Robotics (NCNR)

Cite this