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Collaborative autonomy between high-level behaviors and human operators for control of complex tasks with different humanoid robots

Conner, David C. ; Kohlbrecher, Stefan ; Schillinger, Philipp ; Romay, Alberto ; Stumpf, Alexander ; Maniatopoulos, Spyros ; Kress-Gazit, Hadas ; Stryk, Oskar von
Hrsg.: Spenko, M. ; Buerger, S. ; Iagnemma, K. (2018)
Collaborative autonomy between high-level behaviors and human operators for control of complex tasks with different humanoid robots.
In: The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue
doi: 10.1007/978-3-319-74666-1_12
Buchkapitel, Bibliographie

Kurzbeschreibung (Abstract)

This chapter discusses the common reactive high-level behavioral control system used by Team ViGIR and Team Hector on separate robots in the 2015 DARPA Robotics Challenge (DRC) Finals. We present an approach that allows one or more human operators to share control authority with a high-level behavior controller in the form of a finite state machine (automaton). This collaborative autonomy leverages the relative strengths of the robotic system and the (remote) human operators; it increases reliability of the human-robot team performance and decreases the task completion time. This approach is well-suited to disaster scenarios due to the unstructured nature of the environment. The system allows the operators to adjust the robotic system’s autonomy on-the-fly in response to changing circumstances, and to modify pre-defined behaviors as needed. To enable these high-level behaviors, we introduce our system designs for several of the lower-level system capabilities such as footstep planning and template-based object manipulation. We evaluate the proposed approach in the context of our two teams’ participation in the DRC Finals using two different humanoid platforms, and in systematic experiments conducted in the lab afterward. We present a discussion about the lessons learned during the DRC, especially those related to transitioning between operator-centered control and behavior-centered control during competition. Finally, we describe ongoing research beyond the DRC that extends the systems developed during the DRC. All of our described software is available as open source software.

Typ des Eintrags: Buchkapitel
Erschienen: 2018
Herausgeber: Spenko, M. ; Buerger, S. ; Iagnemma, K.
Autor(en): Conner, David C. ; Kohlbrecher, Stefan ; Schillinger, Philipp ; Romay, Alberto ; Stumpf, Alexander ; Maniatopoulos, Spyros ; Kress-Gazit, Hadas ; Stryk, Oskar von
Art des Eintrags: Bibliographie
Titel: Collaborative autonomy between high-level behaviors and human operators for control of complex tasks with different humanoid robots
Sprache: Englisch
Publikationsjahr: 10 April 2018
Verlag: Springer
Buchtitel: The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue
Reihe: Springer Tracts in Advanced Robotics
Band einer Reihe: 121
DOI: 10.1007/978-3-319-74666-1_12
URL / URN: https://www.springer.com/de/book/9783319746654
Kurzbeschreibung (Abstract):

This chapter discusses the common reactive high-level behavioral control system used by Team ViGIR and Team Hector on separate robots in the 2015 DARPA Robotics Challenge (DRC) Finals. We present an approach that allows one or more human operators to share control authority with a high-level behavior controller in the form of a finite state machine (automaton). This collaborative autonomy leverages the relative strengths of the robotic system and the (remote) human operators; it increases reliability of the human-robot team performance and decreases the task completion time. This approach is well-suited to disaster scenarios due to the unstructured nature of the environment. The system allows the operators to adjust the robotic system’s autonomy on-the-fly in response to changing circumstances, and to modify pre-defined behaviors as needed. To enable these high-level behaviors, we introduce our system designs for several of the lower-level system capabilities such as footstep planning and template-based object manipulation. We evaluate the proposed approach in the context of our two teams’ participation in the DRC Finals using two different humanoid platforms, and in systematic experiments conducted in the lab afterward. We present a discussion about the lessons learned during the DRC, especially those related to transitioning between operator-centered control and behavior-centered control during competition. Finally, we describe ongoing research beyond the DRC that extends the systems developed during the DRC. All of our described software is available as open source software.

Fachbereich(e)/-gebiet(e): 20 Fachbereich Informatik
20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik
Hinterlegungsdatum: 19 Nov 2018 10:52
Letzte Änderung: 18 Apr 2023 07:04
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