Human-initiative variable autonomy: an experimental analysis on operator's interaction with a remotely operated mobile robot

Manolis Chiou, Goda Bieksaite, Nick Hawes, Rustam Stolkin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper presents an experimental analysis of the HumanRobot Interaction (HRI) between human operators and a Human-Initiative (HI) variable-autonomy mobile robot during navigation tasks. In our HI system the human operator is able to switch the Level of Autonomy (LOA) on-the-fly between teleoperation (joystick control) and autonomous control (robot navigates autonomously towards waypoints selected by the human). We present statistically-validated results on: the preferred LOA of human operators; the amount of time spent in each LOA; the frequency of human-initiated LOA switches; and human perceptions of task difficulty. We also investigate the correlation between these variables; their correlation with performance in the primary task (navigation of the robot); and their correlation with performance in a secondary task, in which humans are required to perform mental rotations of 3D objects, while simultaneously trying to continue with the primary task of driving the robot.
Original languageEnglish
Title of host publicationThe 2016 AAAI Fall Symposium Series
Subtitle of host publicationFS-16-05: Shared Autonomy in Research and Practice
Place of PublicationCalifornia
PublisherAAAI Press
Number of pages7
ISBN (Print)978-1577357544
Publication statusPublished - Dec 2016
EventShared Autonomy in Research and Practice (SHARP 2016): AAAI 2016 Fall Symposium Series - Arlington, Virginia, United States
Duration: 17 Nov 201619 Nov 2016

Conference

ConferenceShared Autonomy in Research and Practice (SHARP 2016)
Country/TerritoryUnited States
CityArlington, Virginia
Period17/11/1619/11/16

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