尊重你的情感:基于后悔决策模型的人-多机器人合作

Longsheng Jiang, Yue Wang
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引用次数: 2

摘要

在对人-机器人协作环境下的人的决策行为进行建模时,往往忽略了人的情感方面。然而,在某些情况下,情绪的影响不仅是不可否认的,而且是有益的。本文研究了人-多机器人团队中后悔情绪带来的类人特征,用于领域搜索的应用。在这样的应用程序中,任务管理负载外包给机器人,以减少人类的工作量,使人类能够做更重要的工作。每个机器人首先使用后悔决策模型来决定是否请求人工服务,然后扩展到对来自多个机器人的请求进行最优排队。针对机器人在领域搜索中的运动,设计了一种基于动态规划的机器人路径规划算法。仿真结果表明,类人特征,即风险寻求和风险规避,确实为人-多机器人团队的工作量和性能平衡带来了一些吸引人的效果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Respect Your Emotion: Human-Multi-Robot Teaming based on Regret Decision Model
Often, when modeling human decision-making behaviors in the context of human-robot teaming, the emotion aspect of human is ignored. Nevertheless, the influence of emotion, in some cases, is not only undeniable but beneficial. This work studies the human-like characteristics brought by regret emotion in one-human-multirobot teaming for the application of domain search. In such applications, the task management load is outsourced to the robots to reduce the human’s workload, freeing the human to do more important work. The regret decision model is first used by each robot for deciding whether to request human service, then is extended for optimally queuing the requests from multiple robots. For the movement of the robots in the domain search, we designed a path planning algorithm based on dynamic programming for each robot. The simulation shows that the human-like characteristics, namely, risk-seeking and risk-aversion, indeed bring some appealing effects for balancing the workload and performance in the human-multi-robot team.
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