無人航空システムの非文脈的自律性スコアを統合・表現する手法
Methods for Combining and Representing Non-Contextual Autonomy Scores for Unmanned Aerial Systems
既存の非文脈的自律性評価フレームワークを拡張し、重み付き積法で特徴を統合して自律性座標と距離を導入し、7機のUASに適用して絶対・相対スコアを算出した。
著者: Brendan Hertel, Ryan Donald, Christian Dumas, S. Reza Ahmadzadeh
分類: cs.RO
原文アブストラクト
Measuring an overall autonomy score for a robotic system requires the combination of a set of relevant aspects and features of the system that might be measured in different units, qualitative, and/or discordant. In this paper, we build upon an existing non-contextual autonomy framework that measures and combines the Autonomy Level and the Component Performance of a system as overall autonomy score. We examine several methods of combining features, showing how some methods find different rankings of the same data, and we employ the weighted product method to resolve this issue. Furthermore, we introduce the non-contextual autonomy coordinate and represent the overall autonomy of a system with an autonomy distance. We apply our method to a set of seven Unmanned Aerial Systems (UAS) and obtain their absolute autonomy score as well as their relative score with respect to the best system.
