Mixed-initiative Variable Autonomy for Remotely Operated Mobile Robots
Bibliographic Data
| ID | 22190655 |
|---|---|
| Authors | Manolis Chiou (0000-0002-9779-4067, University of Birmingham), Nick Hawes (0000-0002-7556-6098, University of Oxford), Rustam Stolkin (0000-0002-0890-8836, University of Birmingham) |
| Year | 2021 |
| Volume | 10 |
| Issue | 4 |
| Pages | 1-34 |
| Publication date | 2021-12-31 |
| Peer Reviewed | Yes |
| Open Access | Yes |
| Type | ARTICLE |
| Venue | ACM Transactions on Human-Robot Interaction (JOURNAL) |
| Journal identifiers | ISSN: 2573-9522 • E-ISSN: 2573-9522 |
| Publisher | Association for Computing Machinery (ACM) (PUBLISHER) |
| DOI | 10.1145/3472206 |
| OpenAlex | W2983720792 |
| Language | EN |
| Citations received | 8 |
| References cited | 31 |
This article presents an Expert-guided Mixed-initiative Control Switcher (EMICS) for remotely operated mobile robots. The EMICS enables switching between different levels of autonomy during task execution initiated by either the human operator and/or the EMICS. The EMICS is evaluated in two disaster-response-inspired experiments, one with a simulated robot and test arena, and one with a real robot in a realistic environment. Analyses from the two experiments provide evidence that: (a) Human-Initiative (HI) systems outperform systems with single modes of operation, such as pure teleoperation, in navigation tasks; (b) in the context of the simulated robot experiment, Mixed-initiative (MI) systems provide improved performance in navigation tasks, improved operator performance in cognitive demanding secondary tasks, and improved operator workload compared to HI. Last, our experiment on a physical robot provides empirical evidence that identify two major challenges for MI control: (a) the design of context-aware MI control systems; and (b) the conflict for control between the robot’s MI control system and the operator. Insights regarding these challenges are discussed and ways to tackle them are proposed
Human–computer interaction · Human–robot interaction · Mobile robot · Robot · Robot control · Simulation · Situation awareness · Systems engineering · Teleoperation · Telerobotics · Workload · Computer Science · Engineering · Human-Automation Interaction and Safety · Social Robot Interaction and HRI · Teleoperation and Haptic Systems · Artificial Intelligence
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| Unique citing works | 8 |
|---|---|
| Citations per year | 2.67 |
| Citation span | 2023 - 2026 (4) |
| Citation velocity | current |
| Highly cited | No |
| Citation types | Neutral: 8 |