Fielded Human-Robot Interaction for a Heterogeneous Team in the DARPA Subterranean Challenge

IF 4.2 Q2 ROBOTICS

ACM Transactions on Human-Robot Interaction Pub Date : 2023-03-16 DOI:10.1145/3588325

Danny G. Riley, E. Frew

引用次数: 0

Abstract

Human supervision of multiple fielded robots is a challenging task which requires a thoughtful design and implementation of both the underlying infrastructure and the human interface. It also requires a skilled human able to manage the workload and understand when to trust the autonomy, or manually intervene. We present an end-to-end system for human-robot interaction with a heterogeneous team of robots in complex, communication-limited environments. The system includes the communication infrastructure, autonomy interaction, and human interface elements. Results of the DARPA Subterranean Challenge Final Systems Competition are presented as a case study of the design and analyze the shortcomings of the system.

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DARPA地下挑战赛中异质团队的现场人机交互

人类对多个现场机器人的监督是一项具有挑战性的任务，需要对底层基础设施和人机界面进行深思熟虑的设计和实现。它还需要一个熟练的人来管理工作负载，并了解何时信任自治，或手动干预。我们提出了一个端到端的系统，用于在复杂的、通信有限的环境中与异质机器人团队进行人机交互。该系统包括通信基础设施、自主交互和人机界面元素。以DARPA地下挑战赛决赛系统竞赛的结果为例分析了该系统的设计，并分析了该系统的不足。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

ACM Transactions on Human-Robot Interaction Computer Science-Artificial Intelligence

CiteScore

7.70

自引率

5.90%

发文量

期刊介绍： ACM Transactions on Human-Robot Interaction (THRI) is a prestigious Gold Open Access journal that aspires to lead the field of human-robot interaction as a top-tier, peer-reviewed, interdisciplinary publication. The journal prioritizes articles that significantly contribute to the current state of the art, enhance overall knowledge, have a broad appeal, and are accessible to a diverse audience. Submissions are expected to meet a high scholarly standard, and authors are encouraged to ensure their research is well-presented, advancing the understanding of human-robot interaction, adding cutting-edge or general insights to the field, or challenging current perspectives in this research domain. THRI warmly invites well-crafted paper submissions from a variety of disciplines, encompassing robotics, computer science, engineering, design, and the behavioral and social sciences. The scholarly articles published in THRI may cover a range of topics such as the nature of human interactions with robots and robotic technologies, methods to enhance or enable novel forms of interaction, and the societal or organizational impacts of these interactions. The editorial team is also keen on receiving proposals for special issues that focus on specific technical challenges or that apply human-robot interaction research to further areas like social computing, consumer behavior, health, and education.