Coordination Demand in Human Control of Heterogeneous Robot

Résumé fourni par la source

We proposed an extended Neglect Tolerance model to allow us to evaluate coordination demand in applications where an operator must coordinate multiple robots to perform dependent tasks. Results from the first experiment that required tight coordination conformed closely to our hypotheses with the teleoperation condition producing CD=1 as predicted and heterogeneous teams exerting greater demand than homogenous ones. The CD measure proved useful in identifying abnormal control behavior revealing inefficient control by one participant through irregular time distributions and close CDs for P2ATs under homogeneous and heterogeneous conditions (0.23 and 0.22), a mistake with extended recovery time (41 sec) in another, and a shift to a satisficing strategy between homogeneous and heterogeneous conditions revealed by a drop in CD (0.17 to 0.11) in a third. As most target applications such as construction or search and rescue require weaker cooperation among heterogeneous platforms the second experiment extended NT methodology to such conditions. Results in this more complex domain were mixed. Our findings of increased CD for long sensor range may seem counter intuitive because inspectors would be expected to exert greater CD on explorers with short sensor range. Our

Ce résumé expose les affirmations des auteurs. BNTIC ne l’interprète pas comme une validation indépendante des résultats.