ロボットバイタルとロボット健康状態：劣悪環境下での実行時性能劣化を体系的に定量化する試み
Robot Vitals and Robot Health: Towards Systematically Quantifying Runtime Performance Degradation in Robots Under Adverse Conditions
病院のトリアージに着想を得て、ロボットの性能劣化を推定する指標「ロボットバイタル」と、それらを統合した「ロボット健康状態」を提案し、シミュレーションと実機で有効性を示した。
著者: Aniketh Ramesh, Rustam Stolkin, Manolis Chiou
分類: cs.RO, cs.AI, cs.HC
原文アブストラクト
This paper addresses the problem of automatically detecting and quantifying performance degradation in remote mobile robots during task execution. A robot may encounter a variety of uncertainties and adversities during task execution, which can impair its ability to carry out tasks effectively and cause its performance to degrade. Such situations can be mitigated or averted by timely detection and intervention (e.g., by a remote human supervisor taking over control in teleoperation mode). Inspired by patient triaging systems in hospitals, we introduce the framework of "robot vitals" for estimating overall "robot health". A robot's vitals are a set of indicators that estimate the extent of performance degradation faced by a robot at a given point in time. Robot health is a metric that combines robot vitals into a single scalar value estimate of performance degradation. Experiments, both in simulation and on a real mobile robot, demonstrate that the proposed robot vitals and robot health can be used effectively to estimate robot performance degradation during runtime.
