协同轨迹规划中人机交互通信的考虑。

IF 2.9 Q2 ROBOTICS
Frontiers in Robotics and AI Pub Date : 2025-05-06 eCollection Date: 2025-01-01 DOI:10.3389/frobt.2025.1568402
Julian Schneider, Balint Varga, Sören Hohmann
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引用次数: 0

摘要

交互式人机系统旨在通过利用人类和自动化系统的综合优势,显著提高性能并减少人类的工作量。目前,人机协作(HMC)系统在不同的交互层中建模,例如决策层、轨迹层和动作层。文献通常关注于行动层,假设在决策层或轨迹层不需要达成共识。只有很少的研究涉及到轨迹层的相互作用。之前的工作都没有系统地检查人机交互的通信结构,超出了操作层。为此,本文提出了一种基于多智能体系统理论的人机协作图表示方法。为此,将文献中的人机协作层模型转换为图表示。利用我们新颖的图表示,可以证明通信回路的存在,这是解放合作所必需的。相反,在这种图表示中,领导者-追随者结构不具有闭环。解放式协作的通信回路的选择是模糊的,可以通过人机交互更高层的各种闭环进行,这为解放式协作控制系统的设计开辟了新的可能性。仿真结果表明,通过三种不同的通信回路,解放式合作是可能的,并且在每种情况下都能找到一个共同轨迹的共识。结果表明,在轨迹层考虑协同策略可以提高人机系统的性能和效率。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Consideration of communication in human-machine interaction for cooperative trajectory planning.

Interactive human-machine systems aim to significantly enhance performance and reduce human workload by leveraging the combined strengths of humans and automated systems. In the state of the art, human-machine cooperation (HMC) systems are modeled in various interaction layers, e.g., the decision layer, trajectory layer, and action layer. The literature usually focuses on the action layer, assuming that there is no need for a consensus at the decision or trajectory layers. Only few studies deal with the interaction at the trajectory layer. None of the previous work has systematically examined the structure of communication for interaction between humans and machines beyond the action layer. Therefore, this paper proposes a graph representation based on a multi-agent system theory for human-machine cooperation. For this purpose, a layer model for human-machine cooperation from the literature is converted into a graph representation. Using our novel graph representation, the existence of communication loops can be demonstrated, which are necessary for emancipated cooperation. In contrast, a leader-follower structure does not possess a closed loop in this graph representation. The choice of the communication loop for emancipated cooperation is ambiguous and can take place via various closed loops at higher layers of human-machine interactions, which open new possibilities for the design of emancipated cooperative control systems. In a simulation, it is shown that emancipated cooperation is possible via three variants of communication loops and that a consensus on a common trajectory is found in each case. The results indicate that taking into account cooperative strategies at the trajectory layer can enhance the performance and effectiveness of human-machine systems.

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来源期刊
CiteScore
6.50
自引率
5.90%
发文量
355
审稿时长
14 weeks
期刊介绍: Frontiers in Robotics and AI publishes rigorously peer-reviewed research covering all theory and applications of robotics, technology, and artificial intelligence, from biomedical to space robotics.
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