June 13, 2007
Title: Agent based Human Robot Interaction
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.