This paper presents a Cognitive Availability Aware Mixed-Initiative Controller for remotely operated mobile robots. The controller enables dynamic switching between different levels of autonomy (LOA), initiated by either the AI and/or the human operator. The controller leverages a state-of-The-Art computer vision method and an off-The-shelf web camera to infer the cognitive availability of the operator and inform the AI-initiated LOA switching. This constitutes a qualitative advancement over previous Mixed-Initiative (MI) controllers. The controller is evaluated in a disaster response experiment, in which human operators have to conduct an exploration task with a remote robot. MI systems are shown to effectively assist the operators, as demonstrated by quantitative and qualitative results in performance and workload. Additionally, some insights into the experimental difficulties of evaluating complex MI controllers are presented.
|Title of host publication||Proceedings of the 2020 IEEE International Conference on Human-Machine Systems, ICHMS 2020|
|Editors||Giancarlo Fortino, Fei-Yue Wang, Andreas Nurnberger, David Kaber, Rino Falcone, David Mendonca, Zhiwen Yu, Antonio Guerrieri|
|Publisher||Institute of Electrical and Electronics Engineers (IEEE)|
|Publication status||Published - Sept 2020|
|Event||1st IEEE International Conference on Human-Machine Systems, ICHMS 2020 - Virtual, Rome, Italy|
Duration: 7 Sept 2020 → 9 Sept 2020
|Name||Proceedings of the 2020 IEEE International Conference on Human-Machine Systems, ICHMS 2020|
|Conference||1st IEEE International Conference on Human-Machine Systems, ICHMS 2020|
|Period||7/09/20 → 9/09/20|
Bibliographical noteFunding Information:
ACKNOWLEDGMENT This work was supported by the following grants of UKRI-EPSRC: EP/P017487/1 (Remote Sensing in Extreme Environments); EP/R02572X/1 (National Centre for Nuclear Robotics); EP/P01366X/1 (Robotics for Nuclear Environments). Stolkin was also sponsored by a Royal Society Industry Fellowship.
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Copyright 2020 Elsevier B.V., All rights reserved.
ASJC Scopus subject areas
- Human-Computer Interaction