Title :
Multiagent Adjustable Autonomy Framework (MAAF) for multi-robot, multi-human teams
Author :
Freedy, Amos ; Sert, Onur ; Freedy, Elan ; McDonough, James ; Weltman, Gershon ; Tambe, Milind ; Gupta, Tapana ; Grayson, William ; Cabrera, Pedro
Author_Institution :
Perceptronics Solutions Inc., Encino, CA
Abstract :
This paper describes the ongoing development of a multiagent adjustable autonomy framework (MAAF) for multi-robot, multi-human teams performing tactical maneuvers. The challenge being addressed in this SBIR Phase I R&D project is how to exploit fully the unique capabilities of heterogeneous teams composed of a mixture of robots, agents or persons (RAPs): that is, how to improve the safety, efficiency, reliability and cost of achieving mission goals while maintaining dynamic adaptation to the unique limitations and contingencies of a real-world operating environment. Our response to this challenge is the creation of a new infrastructure that will facilitate cooperative and collaborative performance of human and robots as equal team partners through the application of advances in goal-oriented, multiagent planning and coordination technology. At the heart of our approach is the USC Teamcore Group´s Machinetta, a state-of-the-art robot proxy framework with adjustable autonomy. Machinetta facilitates robot-human role allocation decisions and collaborative sharing of team tasks in the non-deterministic and unpredictable military environment through the use of a domain-independent teamwork model that supports flexible teamwork. This paper presents our innovative proxy architecture and its constituent algorithms, and also describes our initial demonstration of technical feasibility in a realistic simulation scenario.
Keywords :
man-machine systems; military systems; multi-robot systems; collaborative performance; collaborative sharing; multi-human teams; multi-robot teams; multiagent adjustable autonomy framework; robot-human role allocation decisions; Cognitive robotics; Collaboration; Heart; Human robot interaction; Maintenance; Research and development; Robot kinematics; Safety; Teamwork; Technology planning; Human-robot teams; Machinetta framework; OneSAF Objective System; collaborative performance; multiagent planning and coordination;
Conference_Titel :
Collaborative Technologies and Systems, 2008. CTS 2008. International Symposium on
Conference_Location :
Irvine, CA
Print_ISBN :
978-1-4244-2248-7
Electronic_ISBN :
978-1-4244-2249-4
DOI :
10.1109/CTS.2008.4543970