Abstract
In this work we introduce the concept of Robot Vitals and propose a framework for systematically quantifying the performance degradation experienced by a robot. A performance indicator or parameter can be called a Robot Vital if it can be consistently correlated with a robot's failure, faulty behaviour or malfunction. Robot Health can be quantified as the entropy of observing a set of vitals. Robot vitals and Robot health are intuitive ways to quantify a robot's ability to function autonomously. Robots programmed with multiple levels of autonomy (LOA) do not scale well when a human is in charge of regulating the LOAs. Artificial agents can use robot vitals to assist operators with LOA switches that fix field-repairable non-terminal performance degradation in mobile robots. Robot health can also be used to aid a tele-operator's judgement and promote explainability (e.g. via visual cues), thereby reducing operator workload while promoting trust and engagement with the system. In multi-robot systems, agents can use robot health to prioritise robots most in need of tele-operator attention. The vitals proposed in this paper are: rate of change of signal strength; sliding window average of difference between expected robot velocity and actual velocity; robot acceleration; rate of increase in area coverage and localisation error.
Original language | English |
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Title of host publication | HRI '21 Companion |
Subtitle of host publication | Companion of the 2021 ACM/IEEE International Conference on Human-Robot Interaction |
Publisher | Association for Computing Machinery (ACM) |
Pages | 303-307 |
Number of pages | 5 |
ISBN (Electronic) | 9781450382908 |
DOIs | |
Publication status | Published - 8 Mar 2021 |
Event | 2021 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2021 - Virtual, Online, United States Duration: 8 Mar 2021 → 11 Mar 2021 |
Publication series
Name | ACM/IEEE International Conference on Human-Robot Interaction |
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ISSN (Print) | 2167-2121 |
ISSN (Electronic) | 2167-2148 |
Conference
Conference | 2021 ACM/IEEE International Conference on Human-Robot Interaction, HRI 2021 |
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Country/Territory | United States |
City | Virtual, Online |
Period | 8/03/21 → 11/03/21 |
Bibliographical note
Publisher Copyright:© 2021 ACM.
Keywords
- Mixed initiative
- Predictive analytics
- Robot health
- Variable autonomy
ASJC Scopus subject areas
- Artificial Intelligence
- Human-Computer Interaction
- Electrical and Electronic Engineering