Reuven Granot
June 13, 2007
Title: Agent based Human Robot Interaction
Abstract:
A small-scale supervised autonomous (telerobotic) bulldozer in a remote site was
developed as a student project to experience agent based human intervention. The
model is based on Lego Mindstorms kit and represents earth moving equipment,
whose job performance does not require high accuracy. The supervising human may
better react than a fully autonomous system to unexpected contingent events,
which are a major barrier to implement full autonomy. The automation is
introduced as improved Man Machine Interface (MMI) by developing control agents
as intelligent tools to negotiate between human requests and task level
controllers as well as negotiate with other elements of the SW environment.
Controlling agents' functions or goals are to perform a simple task without the
need to use joysticks in order to manually control each one of the systems
activities. The control is improved because the agent is capable to negotiate
with other elements of the SW environment. This transition should take care
about the imperfections, which are responsible for the improper operation of the
robot, by disconnecting or adapting them to the new situation. Conclusion from
the small-scale experiments will be presented.