We consider challenges in advancing the effectiveness of humanrobot teams makes recommendations for enhancing this by facilitating synergies between robotics and virtual human research. Humanrobot interaction is a multidisciplinary field with contributions from humancomputer interaction, artificial intelligence, robotics, natural language understanding, design, humanities and social sciences. Humanrobot interaction hri is increasing in those workplaces where the manual activity is not safe nor efficient in terms of performance e. For example, linear welds might be used to construct pressure vessels, work hangers, and shelters too large to raise into space in one piece 15. The key issues in the design of interactive robots are safety. We used these competitions to study a number of humanrobot interfaces to determine what information helps the operator. The variability in mapquality between different teams is a testament to the dif.
The task of interacting with multirobot systems mrs, especially with large robot teams, presents unique challenges for the user interface designer. For the latter, four possible robot reactions in response to the contact are presented. Individual and cooperative tasks must be accurately modeled. Eastman kodaks estar roll coating machines are very complex machines in which there exist many subsections. The team has become a popular model to organize joint humanrobot behavior. These studies indicate that mechanisms to increase trust could play an important role in increasing the performance of humanrobot teams. Humanrobot interaction in rescue robotics request pdf. Provide intelligent, scalable mounted and dismounted control for unmanned ground and air systems and optimize humanrobot teams. Technologies for humanrobot interactions hri in soldier. Constrained interfaces humanrobot teams will require appropriate user interfaces in order to effectively perform exploration field labor. Introduction organizations are increasingly relying on the use of work groups.
Humanrobot interface design for large swarms of autonomous mobile robots james mclurkin1, jennifer smith2, james frankel3, david sotkowitz4, david. Predictive planning for heterogeneous humanrobot teams sameera s. All in all, this work aims to reduce the concern, that deploying humanrobot teams comes with high costs for external expertise. Discriminative and adaptive imitation in unimanual and bimanual. Critical considerations for human robot interface development julie a. In this paper, we present an asynchronous display method, coined image queue, which allows operators to search through a large amount of data gathered by autonomous robot teams. Evaluation of humanrobot interaction awareness in search and rescue jean scholtz and jeff young jill l. Current research interests lie with identifying performance metrics of humanrobot teams, and specifically with the use of faulttolerance to improve system performance. Technology for humanrobot interaction hri hri atod in soldierrobot teaming. Mixedmode control interfaces of mobile robot teams erik karulf. Map quality pays repeated dividends throughout our system, with corresponding improvements in humanrobot interfaces, planning, etc.
In addition, with the aim to achieve a reasonable convergence of views for the required future developments, our focus will be mostly on the physical aspects2 of the humanrobot collaboration. The objective of the \peertopeer human robot interaction p2phri project is to signi cantly advance the stateoftheart in hri to facilitate sustained, a ordable space exploration. Humanrobot interfaces for interacting with hundreds of autonomous robots must be very different from singlerobot interfaces. Constantin s chassapis the field of humanrobot interaction hri is vast, and, what is more, this nice survey has confirmed that the field is multifarious, extremely dynamic, and very useful, not only academically or technologically speaking, but, most importantly, socially speaking such as robotassisted search and rescue, assistive robots, and space exploration. Drury nist the mitre corporation gaithersburg, md, usa bedford, ma, usa jean. Atkins2 university of michigan, ann arbor, michigan, 48109. Investigating human perceptions of robot capabilities in. Asynchronous control with atr for large robot teams. Scalable target detection for large robot teams proceedings. Exploring the implications of virtual human research for. Critical considerations for humanrobot interface development julie a. Autonomy should make human crews independent from earth and robotic missions more capable.
Another example is the case of providing a team of operators on a large chemical processing machine with the appropriate information regarding all portions of the machines. Interaction challenges in humanrobot space exploration. How this paper addresses the problem of task allocation over a heterogeneous team of human operators and robotic agents with the object of. Atkins2 university of michigan, ann arbor, michigan, 48109 future planetary exploration missions will employ teams of rovers as astronaut assistants and independent scouts. The team formed by manuela veloso consisted of panelists with a rich complementary set of.
Humanrobot interaction is the study of interactions between humans and robots. In addition, with the aim to achieve a reasonable convergence of views for the required future developments, our focus will be mostly on the physical aspects2 of the human robot collaboration. The workshop discussed emerging interface and autonomy themes that could be. For illustration purposes, consider a robot that explores a warehouse. Critical considerations for humanrobot interface development. All aspects of human factors and robotics are within the purview of hri research so far as they provide insight into how to improve our understanding in developing effective tools, protocols, and systems to enhance hri.
In january 2004 interaction challenges in humanrobot space. The design of the interface has a significant influence on the achievable performance in humanrobot team interaction. Integrated intelligence for humanrobot teams robotics institute. Minor position and orientation errors may be corrected using motion compliance, but large deviations from preplanned trajectories will require the robot to parameterize and adjust its plans.
General terms human factors, experimentation, performance, algorithms keywords humanrobot interaction, metrics, evaluation, multirobot. Predictive planning for heterogeneous humanrobot teams. There is a strong relationship between three phases of. This report provides a detailed study of the design of feasible humanrobot interfaces for nearterm deployment in a robot unit, defined as a tightly coupled group of humans using a multiplicity of robots as tactical tools. Humanrobot interaction hri has recently received considerable attention in the academic community, in labs, in technology compa nies, and through the media. With supervisory control, a human supervises the behavior of an autonomous system and intervenes as necessary. To achieve the specified objective, the performance of collaborative robot. Evaluation of humanrobot interaction awareness in search and rescue. Then, we present four alternative humanrobot interfaces.
For example, a significant research effort is being devoted to designing human. Control sharing in humanrobot team interaction sciencedirect. Other applications of such interactive robots can be seen in 1, 2. Intuitionenabled machine learning beats the competition. In particular, we argue that interfaces can be key in helping nonexpert users to collect good learning examples and, thus, improve the performance of the overall learning system. The idea of sliding autonomy allows a human, and a robot, to change the level of autonomy as needed. Human robot interactions for single robots and multi robot teams alexander hong master of applied science mechanical and industrial engineering university of toronto 2016 abstract for robots to successfully take part in bidirectional social interactions with people, they must be capable of recognizing and responding to human affect. Sociotechnical issues in collaboration among humans using robots. Humanrobot interaction hri has recently received considerable attention in the. Different control strategies autonomous, manual control, mixed. Evaluation of human robot interaction awareness in search and rescue jean scholtz and jeff young jill l. We discuss and investigate the advantages of an asynchronous display for foraging tasks with emphasis on urban search and rescue. These challenges are very different from those arising in interactions with a single or limited number. Ii humanrobot interactions for single robots and multirobot teams alexander hong master of applied science mechanical and industrial engineering university of toronto 2016 abstract for robots to successfully take part in bidirectional social.
In january 2004 interaction challenges in humanrobot. We show that the robothuman teams are able to increase the prediction accuracy to 75. This approach provides a natural teaching interface for the robot towards. Sliding autonomy, humanrobot teams, peertopeer teams, pickup. Humanrobot interactions for single robots and multirobot. James mclurkin aaai spring symposium 2006 speaking swarmish speaking swarmish p h y s i c a l. Humanrobot teams will require appropriate user interfaces in order to effectively perform exploration field labor. Constrained interfaces human robot teams will require appropriate user interfaces in order to effectively perform exploration field labor. Peshkin, member, ieee abstracthuman partners working on a target acquisition task perform faster than do individuals on the same task, even though the partners consider each other to be an impediment. A virtual rover interface for collaborative human robot exploration teams catharine l. Human robot interaction, multirobot systems, unmannedvehicle, swarms 1.
The user interface builds the bridge between the human and robot team, and determines the command and feedback information for the human user and its representation. Predictive planning for heterogeneous human robot teams sameera s. Collaboration in humanrobot teams personal robots group mit. However, the complexity of this approach is exponential and leads to computational intractability for problems of interest in largescale factory operations 4. Deliver a suite of test methods, protocols, and information models to assess and assure that robots working collaboratively in humanrobot and robotrobot teams will complete their assigned tasks safely and correctly while meeting their assembly performance objectives.
How this paper addresses the problem of task allocation over a heterogeneous team of human operators and robotic agents with the object of improving mission e ciency and reducing costs. All in all, this work aims to reduce the concern, that deploying human robot teams comes with high costs for external expertise. Depending on the nature of the display, the human interactant might remotely observe the robot from a thirdperson. Smart manufacturing and the promotion of artificially. The humanrobot interaction operating system ntrs nasa. Additionally, to take full advantage of human skills, it is important that intuitive user interfaces are properly designed, so that human operators can easily program and interact with the robot. Realtime cooperative behavior for tactical mobile robot teams skills impact study for tactical mobile robot operational units november 2000.
Humanrobot interaction is an advanced technology and plays an increasingly important role in robot applications. This report provides a detailed study of the design of feasible humanrobot interfaces for. Scheggi et al cooperative navigation for mixed humanrobot teams using haptic feedback 463 authors proposed a leaderfollower formation control strategy, which in this paper has been adapted to our particular human robot setup. Realtime cooperative behavior for tactical mobile robot. Fast scheduling of multirobot teams with temporospatial. The challenges posed by cooperative human robot navigation are typically addressed by using haptic feedback via physical. Humanrobot interaction, teams, adjustable autonomy, dynamic autonomy 1.
Cooperative navigation for mixed humanrobot teams using. At the teleoperation extreme, a human remotely controls a mobile robot or robotic arm. Introduction much current research focuses on allowing a single human to manage a team of robots. Pdf collaboration in humanrobot teams researchgate. Sellner et al 6 discuss three major issues that affect human awareness in multi. In this paper, we challenge the assumption that robots will succeed as teammates alongside humans. Examination of the gap between social requirements and technical feasibility in human. Speci cally, we are developing a range of hri techniques so that humans and robots can work as partners across a range of. Karulf, erik, mixedmode control interfaces of mobile robot teams 2011. Large control delays also make the the shouldertoshoulder. The supervisor guides the team and monitors the overall situation. Enabling endusers to deploy flexible humanrobot teams to. From this research, there appear to be two paradigms that are most frequently discussed. Evaluation of humanrobot interaction awareness in search and.
Humanrobot teams intelligent scalable interface intelligent agents and adaptive automation. Humans and robots incorporate their different capabilities into the team for the accomplishment of a common goal. Humanrobot interaction is prominently seen in applications such as rescue robots, space support etc. There are an increasingly large number of hri researchers in the united states. Exploration and mapping with autonomous robot teams.
Technical approach ongoing human missions to the international space station have an integrated mix of crew working with iva and eva robots teamed with supporting autonomous systems onboard. Evaluation of humanrobot interaction awareness in search. We further show, that endusers can setup the system quickly and operate the whole toolchain effortlessly. Physical collaboration of humanhuman and humanrobot teams kyle b. If the robot planned a poor navigation path, a user could manually specify the waypoints of an optimal path. The purpose of this paper is to draw upon the vast bank of human factors research and indicate how the existing results may be applied to the field of human. Human robot interaction research is diverse and covers a wide range of topics. General general terms design, human factors, theory keywords humanrobot interaction, groups, teams, computersupported cooperative work 1. The multiagent coordination problem with temporospatial constraints can be readily formulated as a mixedinteger linear program milp. Designing humanrobot interaction paradigms for multirobot manipulation bennie lewis and gita sukthankar 1 abstract this paper tackles the problem of designing an effective user interface for a multirobot delivery system, composed of robots with wheeled bases and two 3 dof arms. This chapter first gives a brief introduction to various humanrobot interfaces and several technologies of humanrobot interaction using visual sensors and electroencephalography eeg signals.
Human robot interaction hri is increasing in those workplaces where the manual activity is not safe nor efficient in terms of performance e. An overview of humanrobot physical interaction control has been proposed in, which reports also a classification of contact types and related injuries as well as a description of collision handling methods. Current research interests lie with identifying performance metrics of human robot teams, and specifically with the use of faulttolerance to improve system performance. Constantin s chassapis the field of human robot interaction hri is vast, and, what is more, this nice survey has confirmed that the field is multifarious, extremely dynamic, and very useful, not only academically or technologically speaking, but, most importantly, socially speaking such as robot assisted search and rescue, assistive robots, and space exploration. The objective of the \peertopeer humanrobot interaction p2phri project is to signi cantly advance the stateoftheart in hri to facilitate sustained, a ordable space exploration. Ieee transactions on robotics 1 the impact of humanrobot. At the same time, improper design of such robot autonomy could increase the human s cognitive load, leading to the loss of teaming situation. Control sharing in humanrobot team interaction mediatum. Humanrobot interaction research is diverse and covers a wide range of topics. This article briefly explores potential synergies between the fields of virtual human and humanrobot interaction research. Cognitive teaming allows the robots to adapt more proactively to the many conscious and subconscious expectations of their human teammates. May 19, 2016 humanrobot interaction is an advanced technology and plays an increasingly important role in robot applications. Design suggestions and prototypes for robots in group contexts.
Because humans will need to interact with robots in a variety of ways different levels of autonomy, different spatial arrangements, etc. Humanrobot interaction world technology evaluation center. The performance of collaborative robot systems project will provide the methods, protocols, and metrics necessary to evaluate the collaborative capabilities of robot systems, and will use a taskdriven decomposition of manufacturing processes to assess and assure the safety and effectiveness of human robot and robot robot collaborative teams. Teams organization and performance analysis in autonomous. The design of the interface has a significant influence on the achievable performance in human robot team interaction. They provide the user with directional cues in order to reach the. Introduction swarm robotics, especially controlling swarm teams of multiple uvs, have drawn growing attentions in the recent years.
Research experience includes working with pioneers, atrvjrs, amigobots, egators and lagr robots. The challenges posed by cooperative humanrobot navigation are typically addressed by using haptic feedback via physical. Humanrobot interactions for single robots and multirobot teams. For example, a significant research effort is being devoted to designing human robot interface. A preliminary study of peertopeer humanrobot interaction. Robot teammates are designed with highlevels of autonomy and welldeveloped coordination skills to aid humans in unpredictable environments. The discussed humanrobot teams consist of a remote supervisor and several team members humans and robots in the workspace. In humanrobot teams, a certain percentage of this uncertainty originates from the human operator, to which the robot must adapt on a constant basis.
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