オペレータの認知余裕を考慮した混合主導制御
Human operator cognitive availability aware Mixed-Initiative control
Webカメラと画像認識でオペレータの認知余裕を推定し、AIと人間のどちらからでも自律度を動的に切り替えられる遠隔ロボット制御を提案し、災害対応タスクで有効性を示した論文。
著者: Giannis Petousakis, Manolis Chiou, Grigoris Nikolaou, Rustam Stolkin
分類: cs.RO, cs.AI, cs.HC, cs.MA
原文アブストラクト
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 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.
